【摘要】 针对离心振动台中轻柔基础与上平台间的动态耦合及各非线性因素使系统性能恶化的问题,在传统伺服控制策略的基础上提出了一种复合控制策略。根据耦合等效模型设计几何解耦控制器,以消除轻柔基础与上平台间的动态耦合;综合考虑各非线性因素对系统性能的影响,提出了基于鲁棒控制的反馈控制器和基于两自由度控制的前馈控制器来保证系统的稳定性和控制精度;引入负载干扰力补偿控制器,以减小负载动态特性变化对系统性能的影响。仿真结果表明,经前馈、反馈校正和几何解耦后,离心振动台的频宽已提高至250Hz,完全满足伺服控制策略的频宽要求。经负载干扰力补偿后,在负载特性剧烈下降阶段位置闭环的超调量和调整时间已减少至未采用补偿的50%,且在负载特性随机波动阶段位置闭环的波形失真也得到了显著改善。更多还原

【Abstract】 A combined control strategy based on traditional servo control strategies is proposed to solve the dynamic coupling between the light-flexible base and the table,and to overcome the performance deterioration of centrifugal shaker caused by nonlinear factors. A geometry decoupling controller based on the equivalent coupling model is designed to eliminate the dynamic coupling between the light-flexible base and the table.Effects of all nonlinear factors on the system performance are taken into account,and a feedback controller based on robust control and a feed-forward controller based on 2-DOF control are presented to ensure the stability and control accuracy of the system.A load disturbing force compensator is also introduced to counteract the influence of load characteristics variation on system performance.Simulation results show that the bandwidth of the centrifugal shaker is improved to 250 Hz after the feedback and feed-forward adjusting and geometry decoupling,and satisfies the anticipated bandwidth requirement of servo control strategy.When the load disturbing force is compensated,the overshoot and adjustment time of position close-loop in the radical drop section of load characteristics reduce to 50% of that without using compensation,and the close-loop waveform distortion in the random fluctuation section of load characteristics is also improved.更多还原