摘要
为了模拟低频空间结构在地面进行动力学测试时的零重力环境,研制出一种高精度的气动悬挂系统,解决了系统设计中所涉及的气动关键技术问题。首先,设计了基于内部供压节流孔支撑的气悬浮无摩擦气缸,提出了基于非支配排序遗传算法的气缸结构多目标优化方法。然后,采用两级阀芯的活塞式结构,研制了一种高精度的气动比例压力阀,其稳态压力控制精度高达0.25KPa。建立了气动悬挂系统的非线性数学模型,分析了各系统参数对系统静/动态特性、控制性能和垂直悬挂频率的影响,并提出基于高精度压力传感器和比例阀的恒压鲁棒控制方法。实验结果表明,气动悬挂系统的总摩擦力小于0.0098N,稳态压力波动小于25Pa,实现了无摩擦、高精度的设计要求,证明了系统方案的可行性和有效性。
论文的主要内容如下:
第一章,介绍了地面零重力环境模拟系统的结构形式、主要特点和使用范围,总结了悬挂系统的国内外研究状况,阐述了气动悬挂系统开发中所涉及的气动关键技术及其相关的研究进展,最后概述了本课题的研究意义和研究内容。
第二章,基于气体润滑的基本原理设计了基于内部供压节流孔支撑的气悬浮式无摩擦气缸;建立了活塞和缸壁间隙内的气体压力分布、气体泄漏流量和活塞径向承载能力的数学模型,仿真分析了气缸压力、缸筒与活塞间隙以及活塞结构参数变化对气缸性能的影响;提出了一种基于非支配排序遗传算法的气缸结构多目标优化设计方法,实现了气缸结构参数的匹配优化。最后,通过实验验证了所建模型的正确性和优化方法的有效性。
第三章,设计了一种高精度气动比例压力阀,采用两级阀芯的活塞式结构,以比例电磁铁为控制元件,电反馈闭环控制,该阀输出压力为0～0.5MPa,稳态精度高达0.25KPa。建立了比例阀的非线性动态模型,分析了主要物理和几何参数对系统动态特性和控制性能的影响;构建输出因子调整的模糊自适应比例加积分控制器,并利用ATmega16单片机实现了压力设定范围内的快速高精度控制。最后,对比例压力阀的性能进行了实验测试。
第四章,建立了比例压力阀控制的气动悬挂系统的完整数学模型,仿真分析了气源压力和温度、储气罐容积、连接管路长度和直径等关键物理参数对系统动态特性和控制性能的影响,推导了气动悬挂系统垂直悬挂频率的理论模型,分析了系统参数对于垂直悬挂频率的影响。
第五章,提出了气动悬挂系统的高精度压力控制方法,采用高楠度比例阀作为气动控制元件,使用高精度压力传感器检测气缸压力进行闭环反馈控制,并提出了两种高性能的鲁棒控制策略,实现了系统在模型参数变化和外部扰动时的高精度恒压控制,最终稳态压力波动小于26Pa。第一种控制方案将智能控制技术引入到控制器设计中,提出了基于比例压力阀的智能复合控制算法,并采用实数编码遗传算法对控制器的参数进行整定优化。第二种方案则采用比例流量阀控制,采用输入输出线性化方法导出了系统的二阶标称模型,设计了基于观测器和等效控制的模糊滑模变结构控制器。最后,通过仿真实验对两种控制器的动、静态特性和鲁棒性进行了分析和验证。
第六章,研制了基于双无摩擦气缸驱动的气动悬挂系统试验台,详细设计了悬挂装置、控制系统硬件和软件平台。采用智能复合控制器和模糊滑模控制器分别进行了压力阶跃响应、突变干扰、气源压力变化、活塞往复运动等多种恒压控制实验,分析了控制器的性能和控制参数对系统的影响。最后,对系统的摩擦力进行了测试。
第七章对本论文的主要工作、研究结论和创新点进行了总结,展望了未来的研究工作。
To simulate the zero-gravity environment for dynamic testing of low frequency space structures,a high precision pneumatic suspension system(PSS) is developed and some pneumatic key technological problems in design of the suspension system are solved.First of all, a type of air-suspending frictionless cylinders is designed based on inner gas pressure supporting by orifice restrictors,and a multi-objective optimization design method of the cylinders using nondominated sorting genetic algorithm is proposed to optimize the structural parameters.Then a high precision pneumatic proportional pressure valve is developed by adopting plunger-type structure with two-stage poppet,and the steady-state precision of pressure control is no less than 0.25KPa.A nonlinear mathematical modle of the PSS is built,and the effects of main system parameters on static/dynamic characteristics,control performance and plunge suspension frequency of the PSS are analyzed.After that a constant pressure robust control method based on a high precision pressure sensor and proportional valves is proposed to achieve high precision of pressure control.Experimental results show that the total friction force of the PSS is less than 0.0098N,and the steady-state pressure flunctuation is less than 25Pa,which meet the demand of no friction and high precision,and verify the feasibility and validity of the system scheme.
The main contents of this dissertation are as follows:
In chapter 1,structural style,main charateristics and range of application of the zero-gravity environment simulation system on the ground are introduced.The current stage in domestic and foreign research of suspension system is summarized.Some pneumatic key technologies in development of the PSS and related research progress are explained.Finally,necessity and main contents of this project are illustrated briefly.
In chapter 2,using the theory of aerostatic lubrication,a type of air-suspending frictionless cylinders is designed based on inner gas pressure supporting by orifice restrictors.The mathematical models of gas pressure distribution in the clearance between the cylinder and the piston,gas leakage and radial load capacity are established and the influences of gas pressure, clearance and structural parameters on cylinder performances are analyzed by simulation.A multi-objective optimization design method of the cylinders using nondominated sorting genetic algorithm is proposed to achieve structural parameters matching optimization.At last correctness of the modles and validity of the optimization method are verified by experiments.
In chapter 3,a high precision pneumatic proportional pressure valve is designed.The valve adopts plunger-type structure with two-stage poppet.A proportional electromagnetic actuator is used as control component and the control strategy is electric closed-loop feedback.The output pressure ranges from 0 to 0.5MPa and the steady-state precision is no less than 0.25KPa.A nonlinear dynamic model is developed to analyze the effects of main physical and geometrical parameters on the valve's dynamic behavior and control.A self-adaptive fuzzy proportional plus integral controller with adjusting output scale factor is designed for high precision and quickly control of different pressure target values,and carried out based on single chip-microcomputer ATmega16.Finally,some performance tests of the propotional valve are carried out.
In chapter 4,a completely mathematical model of the PSS controlled by proportional pressure valve is established,and the influences of key physical parameters on dynamic behavior and control performance of the system are analyzed by simulation method.The key parameters include the pressure and the temperature of air source,the volume of air tank,the length and the diameter of connecting tubes and so on.Finally,theoretical modle of vertical plunge frequency is deduced and the effects of system parameters on the vertical plunge frequency are analyzed.
In chapter 5,a high precision pressure control method of the PSS is proposed.High precision proportional valves are used as control component;meanwhile a high precision pressure sensor is adopted to detect the cylinder pressure for close-loop feedback control.Then two high performance robust control strategies are proposed and the steady-state pressure fluctuation is less than 26Pa which realizes high precision constant pressure control while the system has the parametric changes of the model and external disturbances.In the first control scheme,intelligent control techniques are introduced to controller design.An intelligent hybrid control algorithm using proportional pressure valve is put forward and the tuning parameters of the controller are optimized based on real code genetic algorithm.In the following control scheme a proportional flow valve is utilized.The second-order norm form model is achieved by using input-output linearization approach and a fuzzy sliding mode controller is developed combined with equivalent control and observer of the valve orifice area.At last,dynamic,static characteristics and robustness of the two controllers are analyzed and verified by simulation.
In chapter 6,a pneumatic suspension system test platform is developed based on the two frictionless pneumatic cylinder actuators.Pneumatic suspension device,hardware and software of the control system are designed in detail.Various constant pressure control experiments including pressure step response,sudden disturbances,air source change and alternate motion of the piston,are made using the intelligent hybrid controller and the fuzzy sliding mode controller respectively.The performance of the controllers and the effects of control parameters on system are analyzed.Finally,the total friction force of the PSS is measured.
In chapter 7,main research work,conclusions and innovation points of the dissertation are summarized and the future research proposals are suggested.
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