三轴液压角振动台的控制研究
摘要
振动台是一种在实验室内提供典型振动条件或模拟再现环境、用以检验和评价各类工程装置及设备机械力学性能的标准试验设备。其中三轴液压角振动台作为一种独特的振动环境模拟设备在导弹、火箭、卫星等国防工业的发展中有独特的作用。
三轴液压角振动台是一个十分复杂的非线性系统,采用单纯的PID控制技术,控制精度不能达到要求。为了使系统的输出能很好的复现期望的响应信号,本文引入了迭代学习控制算法的非线性控制策略,通过对驱动信号的不断校正有效地抑制周期性的干扰,减小系统输出与期望的响应信号之间的偏差。针对控制系统的稳定性以及迭代学习的收敛性,提出了复合迭代学习控制的方式,并从频域角度给出了其收敛性条件。
本文分别针对三轴角振动台的内框以及单轴角振动台系统建立了完整的阀控马达系统的数学模型。在对阀控马达电液位置伺服系统合理简化的基础上进行了复合迭代学习控制器的设计。通过分析系统的稳定性、系统频宽和控制精度,设计了加速度反馈、微分前馈以及迭代学习控制器。有效提高了系统的综合性能。
在所建模型的基础上,通过仿真分析,指出系统耦合是随着输入信号的频率、幅值增大而增大的,并且频率对耦合的影响要大于幅值对耦合的影响。本文用逆系统的解耦方法对其进行了解耦设计,得到一个线性模型,这样就可以用线性系统理论对其进行分析和设计。
最后本文对单轴角振动台试验系统进行了实验研究,实验结果表明,所设计的单轴角振动台试验系统及本文所提出的控制策略可以达到设计要求。
Vibration table is a kind of standard experiment equipment which is used to provide classical vibration conditions, simulate and reappear the environment, test and evaluate the mechanical function of all kinds of engineering equipment. There-axis angle vibration hydraulic table is a special kind of vibration environment simulated equipment which is widely used in national defense industry, such as missiles, rockets and satellites.
There-axis angle vibration hydraulic table is a kind of non-linear system which is very complex. If you take pure servo-control still to control, it is difficult to increase the control accuracy to a high level. for the sake of reduce the bias between actual output of the system and the ideal response better, this paper use iteration-learning-control to iteratively compensate the input signal by the way of restraining cyclical interference. This paper expounds the basic theory of the iteration-learning-control. And two kind of iteration-learning-control which are open loop and closed loop are analyzed about their structures and merits. Aim at the stabilization of the control system and the convergence of the iteration-learning-control, a compound iteration-learning-control is adopted, and the convergence criterion is given from the frequency-domain’s point of view.
The mathematical model of motor controlling by the valves is set up in this paper by the way of analyzing the inner gimbals of the there-axis angle vibration table and the system of one-axis angle vibration table. Based on the simplified model, the compound iteration-learning-control is designed. Feedback control、feed forward control and iteration-learning-control are designed by the way of analyzing stability、bandwidth and control accuracy which has improved the synthesis function of the system effectively.
Based on the model, the conclusions are reached that coupling of the system is enhanced with the enhancement of frequency and width of the input signal, and frequency’s influence on coupling is much more than width’s influence on coupling. The decoupling design of the system by the method of inverse-system decoupling is presented and a linear model is resulted. Then, linear system theory can be used to analysis and design the system.
Lastly, the author dose some experiment on the three axis flight simulator table experiment system. The experiment results show that the system designed has reached the design target.
三轴液压角振动台是一个十分复杂的非线性系统,采用单纯的PID控制技术,控制精度不能达到要求。为了使系统的输出能很好的复现期望的响应信号,本文引入了迭代学习控制算法的非线性控制策略,通过对驱动信号的不断校正有效地抑制周期性的干扰,减小系统输出与期望的响应信号之间的偏差。针对控制系统的稳定性以及迭代学习的收敛性,提出了复合迭代学习控制的方式,并从频域角度给出了其收敛性条件。
本文分别针对三轴角振动台的内框以及单轴角振动台系统建立了完整的阀控马达系统的数学模型。在对阀控马达电液位置伺服系统合理简化的基础上进行了复合迭代学习控制器的设计。通过分析系统的稳定性、系统频宽和控制精度,设计了加速度反馈、微分前馈以及迭代学习控制器。有效提高了系统的综合性能。
在所建模型的基础上,通过仿真分析,指出系统耦合是随着输入信号的频率、幅值增大而增大的,并且频率对耦合的影响要大于幅值对耦合的影响。本文用逆系统的解耦方法对其进行了解耦设计,得到一个线性模型,这样就可以用线性系统理论对其进行分析和设计。
最后本文对单轴角振动台试验系统进行了实验研究,实验结果表明,所设计的单轴角振动台试验系统及本文所提出的控制策略可以达到设计要求。
Vibration table is a kind of standard experiment equipment which is used to provide classical vibration conditions, simulate and reappear the environment, test and evaluate the mechanical function of all kinds of engineering equipment. There-axis angle vibration hydraulic table is a special kind of vibration environment simulated equipment which is widely used in national defense industry, such as missiles, rockets and satellites.
There-axis angle vibration hydraulic table is a kind of non-linear system which is very complex. If you take pure servo-control still to control, it is difficult to increase the control accuracy to a high level. for the sake of reduce the bias between actual output of the system and the ideal response better, this paper use iteration-learning-control to iteratively compensate the input signal by the way of restraining cyclical interference. This paper expounds the basic theory of the iteration-learning-control. And two kind of iteration-learning-control which are open loop and closed loop are analyzed about their structures and merits. Aim at the stabilization of the control system and the convergence of the iteration-learning-control, a compound iteration-learning-control is adopted, and the convergence criterion is given from the frequency-domain’s point of view.
The mathematical model of motor controlling by the valves is set up in this paper by the way of analyzing the inner gimbals of the there-axis angle vibration table and the system of one-axis angle vibration table. Based on the simplified model, the compound iteration-learning-control is designed. Feedback control、feed forward control and iteration-learning-control are designed by the way of analyzing stability、bandwidth and control accuracy which has improved the synthesis function of the system effectively.
Based on the model, the conclusions are reached that coupling of the system is enhanced with the enhancement of frequency and width of the input signal, and frequency’s influence on coupling is much more than width’s influence on coupling. The decoupling design of the system by the method of inverse-system decoupling is presented and a linear model is resulted. Then, linear system theory can be used to analysis and design the system.
Lastly, the author dose some experiment on the three axis flight simulator table experiment system. The experiment results show that the system designed has reached the design target.
引文
1李敏霞等.电液伺服振动台的振动控制技术及应用.华南建设学院西院学报, 1996, 4(2):1~3
2黄浩华.电液伺服系统在地震工程研究中的应用.测控技术, 1996, 15(4):32~33
3 S.K.Tso, Y.H.Fung, N.L.Liu. Performance Improvement of Robort Manipulator Control Using an On-line Neural Network Compensator. Proceedings of the Insitution of Mechannical Engineers.1999,213(11):49~60
4苏永清等.国内电液负载仿真台研究与发展现状.机床与液压, 1999(2)2~7
5 S.Axelson, K.Kumar. Dynamic Feedback Linearization of a Hydraulic Valve Actuator Combination. In Proceedings of American Control Conference, Atlanta.1988:2202~2205
6 Shi Weixiang. Study on Hybrid Intellingent for Fluid Powetr System. Proceedings of the 3rd International Symposium on Fluid Power Transmission and Control(Supplement),Harbin.1999:1~18
7骆涵秀.电液振动台的发展趋势.试验机与材料实验, 1995,(6):1~6
8王述成.振动台实时控制系统的研究.浙江大学博士论文. 2006:5~8
9 Wu Shenglin, Zhao Keding, Li Shangyi, Liu Qinghe. The DesignCharacteristic and Experiment study on Electrohydraulic Servo Motor with Super-Low-Speed High Frequency Response and High Accuracy. Proceedings of the lst International Symposium on Fluid Power Transmission and Control, Beijing, 1991:148~151
10 Li Shangyi, Zhao Gang, Zhao Keding, Xu Hongguang, Wang Chunyan. Study on Electro-Hydraulic Position Servo System with High Accuracy. New Achievement in Fluid Power Engineering('93 ICFP), Hangzhou, Beijing, International Academic Publishers, 1993:34~39
11 Li Wanyu, Liu Qinghe, Zhao Keding. A Control Method to Heighten the Band of the Electrohydraulic Position Servo System.Proceedings of International Conference on Modeling and Simulation and Control, ASME, Chengdu, 1993:147~149
12贾光政.拓宽仿真转台电液伺服系统频带的研究.哈尔滨工业大学硕士论文. 1993:1~5
13 Ding Guofeng,Lin Tingqi,Shi Weixiang.Application of Controller of High Order Neural Network to Hydraulic Servo System.Proceedings of the 2nd International Symposium on Fluid Power Transmission and Control, shanghai. 1995:239~244
14黄其涛.三向六自由度振动台控制策略研究.哈尔滨工业大学硕士论文. 2002: 1~5
15王平.三轴角振动液压转台理论分析与实验研究.哈尔滨工业大学硕士论文. 2006:7~10
16李洪人.液压控制系统(修订本).国防工业出版社, 1990
17李万钰.仿真转台电液位置伺服系统频带拓宽方法研究.哈尔滨工业大学博士学位论文.1994:1~25 20~25
18吴盛林,刘春芳.液压仿真转台位置伺服系统频宽特性的研究.航天控制, 2002.2:53~58
19 Li Shangyi, Gang Zhao, Keding Zhao, Hongguang Xu, Chunyan Wang. Study on Electro-Hydraulic Position Servo System with High Accuracy. New Achievement in Fluid Power Engineering (′93 ICFP), Hangzhou, Beijing, International Academic Publishers, 1993:34~39
20 J. L. Johnson. Identifying Errors in Motion-Control Servoloops. Hydraulics & Pneumatics. 1997,50(5):14~15
21 Fang Z, Han Z G, Chen P N. Recent developments of iterative learning control . Control Theory and Applications, 2002, 19(2): 161-166
22郭丹旦.伺服系统摩擦补偿的重复控制策略.二十一届中国控制会议论文集. 2002
23 H. L. Broberg, R. G. Molyer Reduction of repetitive errors in tracking of periodic signals theory and application of repetitive control. Control Applications First IEEE Conference on, 1992:13~16
24 Arimoto S, Kawamura S, Miyazaki F. Bettering Operation of robotics by learning. J. Robotic System, 1984, 1(2):123-140
25吴继轩,刘向东.高频角振动测试转台的迭代学习控制.计算机仿真. 2005.11:307
26 Heather Havlicsek, Andrew Alleyne. Nonlinear control of aneletro hydraulicinjection modeling machine via iterative control. Proceedings of the American Control Conference, San Diego, California, 2003
27 Muhanmad Arif, Tadashi Ishihara, Hikaru Inooka. Iterative learning control using information database(ILCID). Journal of Intelligent and Robotic Systems, 1999,25:27~41
28崔晓.高频响电液伺服振动台的研究.沈阳工业大学硕士论文. 2004:19~20
29冯增健.开闭环PD型迭代学习控制及其收敛性研究.浙江大学硕士论文. 2005:27~28
30孙明轩.迭代学习控制.国防工业出版社. 1999
31 Shi Z K. Iterative learning control for nonlinear discrete-time systems. Control Theory & Applications, 2003, 15(3): 327-332
32 Chen Y Q, Gong Z M, Wen C Y. Analysis of a high-order iterative learning control algorithm for uncertain nonlinear systems with statedelays . Automatica, 2005, 34(3): 345-353
33 Park K H, Bien Z, Huang D H. A study on the robustness of a PID-type iterative learning controller against initial state error. J.Syst. Sci., 2003, 30(1): 49-59
34付兴武.三轴仿真转台电液位置伺服系统及其控制策略的研究.哈尔滨工业大学博士论文.1996:36~44
35刘春芳.液压三轴仿真转台低速性能及其控制策略的研究.哈尔滨工业大学博士论文.2003:61~62
36王海鹏.三轴仿真转台快速性分析及解耦问题的研究.哈尔滨工业大学硕士论文. 2003:27~36
37王广雄.控制系统设计.宇航出版社. 1991. 178~207
38张蕊华.三轴仿真转台电液位置伺服系统的分析和研究.哈尔滨工业大学硕士论文. 2002:17~22
39薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用.清华大学出版社,2002
40王伟雄,陶敏尔.三轴模拟台的交叉耦合及其控制方法的研究.中国惯性技术学报. 1995:49
41曾庆双,王茂,刘升才.三轴转台框架间动力学耦合及解耦研究.中国惯性技术学报, 1997,5(3):44~49
42王茂,邵长东.带有轴间动力学解耦的三轴转台自适应控制.中国惯性技术学报, 2003, 11(5):5~11
43夏小华,高为炳.非线性系统控制及解耦.北京:科学出版社, 1993
44 Elmali H,Olgac N.Robust Output Tracking Control of Nonlinear MIMO Systems via Sliding Model Technique [J].Automatica.1992,28(1):145~151
45 J.H.Hyun,C.O.Lee.Optimization of Feedback Gains for a Hydraulic Servo System by Grnetic Algorithms.Proceedings of the Institution of Mechanical Engineers.1998,212(15):395~401
46 Singh S H,lyer A Nonlinear Decoupling Sliding Model Control and Attitude Control of Spacecraft [J].IEEE Transactions on Aerospace and Electronic Systems. 1989,25(5):621~633
47曹健.仿真转台用连续回转电液伺服马达及其控制系统的研究.哈尔滨工业大学博士学位论文.2002:44~56
48刘国荣,阳宪惠.模糊自适应PID控制器.控制与决策. 1995, 10(6):558~562
49陈维山,赵杰.机电系统计算机控制.哈尔滨工业大学出版社, 1999
2黄浩华.电液伺服系统在地震工程研究中的应用.测控技术, 1996, 15(4):32~33
3 S.K.Tso, Y.H.Fung, N.L.Liu. Performance Improvement of Robort Manipulator Control Using an On-line Neural Network Compensator. Proceedings of the Insitution of Mechannical Engineers.1999,213(11):49~60
4苏永清等.国内电液负载仿真台研究与发展现状.机床与液压, 1999(2)2~7
5 S.Axelson, K.Kumar. Dynamic Feedback Linearization of a Hydraulic Valve Actuator Combination. In Proceedings of American Control Conference, Atlanta.1988:2202~2205
6 Shi Weixiang. Study on Hybrid Intellingent for Fluid Powetr System. Proceedings of the 3rd International Symposium on Fluid Power Transmission and Control(Supplement),Harbin.1999:1~18
7骆涵秀.电液振动台的发展趋势.试验机与材料实验, 1995,(6):1~6
8王述成.振动台实时控制系统的研究.浙江大学博士论文. 2006:5~8
9 Wu Shenglin, Zhao Keding, Li Shangyi, Liu Qinghe. The DesignCharacteristic and Experiment study on Electrohydraulic Servo Motor with Super-Low-Speed High Frequency Response and High Accuracy. Proceedings of the lst International Symposium on Fluid Power Transmission and Control, Beijing, 1991:148~151
10 Li Shangyi, Zhao Gang, Zhao Keding, Xu Hongguang, Wang Chunyan. Study on Electro-Hydraulic Position Servo System with High Accuracy. New Achievement in Fluid Power Engineering('93 ICFP), Hangzhou, Beijing, International Academic Publishers, 1993:34~39
11 Li Wanyu, Liu Qinghe, Zhao Keding. A Control Method to Heighten the Band of the Electrohydraulic Position Servo System.Proceedings of International Conference on Modeling and Simulation and Control, ASME, Chengdu, 1993:147~149
12贾光政.拓宽仿真转台电液伺服系统频带的研究.哈尔滨工业大学硕士论文. 1993:1~5
13 Ding Guofeng,Lin Tingqi,Shi Weixiang.Application of Controller of High Order Neural Network to Hydraulic Servo System.Proceedings of the 2nd International Symposium on Fluid Power Transmission and Control, shanghai. 1995:239~244
14黄其涛.三向六自由度振动台控制策略研究.哈尔滨工业大学硕士论文. 2002: 1~5
15王平.三轴角振动液压转台理论分析与实验研究.哈尔滨工业大学硕士论文. 2006:7~10
16李洪人.液压控制系统(修订本).国防工业出版社, 1990
17李万钰.仿真转台电液位置伺服系统频带拓宽方法研究.哈尔滨工业大学博士学位论文.1994:1~25 20~25
18吴盛林,刘春芳.液压仿真转台位置伺服系统频宽特性的研究.航天控制, 2002.2:53~58
19 Li Shangyi, Gang Zhao, Keding Zhao, Hongguang Xu, Chunyan Wang. Study on Electro-Hydraulic Position Servo System with High Accuracy. New Achievement in Fluid Power Engineering (′93 ICFP), Hangzhou, Beijing, International Academic Publishers, 1993:34~39
20 J. L. Johnson. Identifying Errors in Motion-Control Servoloops. Hydraulics & Pneumatics. 1997,50(5):14~15
21 Fang Z, Han Z G, Chen P N. Recent developments of iterative learning control . Control Theory and Applications, 2002, 19(2): 161-166
22郭丹旦.伺服系统摩擦补偿的重复控制策略.二十一届中国控制会议论文集. 2002
23 H. L. Broberg, R. G. Molyer Reduction of repetitive errors in tracking of periodic signals theory and application of repetitive control. Control Applications First IEEE Conference on, 1992:13~16
24 Arimoto S, Kawamura S, Miyazaki F. Bettering Operation of robotics by learning. J. Robotic System, 1984, 1(2):123-140
25吴继轩,刘向东.高频角振动测试转台的迭代学习控制.计算机仿真. 2005.11:307
26 Heather Havlicsek, Andrew Alleyne. Nonlinear control of aneletro hydraulicinjection modeling machine via iterative control. Proceedings of the American Control Conference, San Diego, California, 2003
27 Muhanmad Arif, Tadashi Ishihara, Hikaru Inooka. Iterative learning control using information database(ILCID). Journal of Intelligent and Robotic Systems, 1999,25:27~41
28崔晓.高频响电液伺服振动台的研究.沈阳工业大学硕士论文. 2004:19~20
29冯增健.开闭环PD型迭代学习控制及其收敛性研究.浙江大学硕士论文. 2005:27~28
30孙明轩.迭代学习控制.国防工业出版社. 1999
31 Shi Z K. Iterative learning control for nonlinear discrete-time systems. Control Theory & Applications, 2003, 15(3): 327-332
32 Chen Y Q, Gong Z M, Wen C Y. Analysis of a high-order iterative learning control algorithm for uncertain nonlinear systems with statedelays . Automatica, 2005, 34(3): 345-353
33 Park K H, Bien Z, Huang D H. A study on the robustness of a PID-type iterative learning controller against initial state error. J.Syst. Sci., 2003, 30(1): 49-59
34付兴武.三轴仿真转台电液位置伺服系统及其控制策略的研究.哈尔滨工业大学博士论文.1996:36~44
35刘春芳.液压三轴仿真转台低速性能及其控制策略的研究.哈尔滨工业大学博士论文.2003:61~62
36王海鹏.三轴仿真转台快速性分析及解耦问题的研究.哈尔滨工业大学硕士论文. 2003:27~36
37王广雄.控制系统设计.宇航出版社. 1991. 178~207
38张蕊华.三轴仿真转台电液位置伺服系统的分析和研究.哈尔滨工业大学硕士论文. 2002:17~22
39薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用.清华大学出版社,2002
40王伟雄,陶敏尔.三轴模拟台的交叉耦合及其控制方法的研究.中国惯性技术学报. 1995:49
41曾庆双,王茂,刘升才.三轴转台框架间动力学耦合及解耦研究.中国惯性技术学报, 1997,5(3):44~49
42王茂,邵长东.带有轴间动力学解耦的三轴转台自适应控制.中国惯性技术学报, 2003, 11(5):5~11
43夏小华,高为炳.非线性系统控制及解耦.北京:科学出版社, 1993
44 Elmali H,Olgac N.Robust Output Tracking Control of Nonlinear MIMO Systems via Sliding Model Technique [J].Automatica.1992,28(1):145~151
45 J.H.Hyun,C.O.Lee.Optimization of Feedback Gains for a Hydraulic Servo System by Grnetic Algorithms.Proceedings of the Institution of Mechanical Engineers.1998,212(15):395~401
46 Singh S H,lyer A Nonlinear Decoupling Sliding Model Control and Attitude Control of Spacecraft [J].IEEE Transactions on Aerospace and Electronic Systems. 1989,25(5):621~633
47曹健.仿真转台用连续回转电液伺服马达及其控制系统的研究.哈尔滨工业大学博士学位论文.2002:44~56
48刘国荣,阳宪惠.模糊自适应PID控制器.控制与决策. 1995, 10(6):558~562
49陈维山,赵杰.机电系统计算机控制.哈尔滨工业大学出版社, 1999