【作者】 陈丽娟；

【导师】 伞冶；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2010， 硕士

【摘要】 三轴转台是应用在半实物仿真系统中,模拟被测物体姿态变化的装置。本文中,我们研究的主要内容为三轴转台。本文以实际工程项目为背景,主要研究三轴转台的控制系统设计。随着武器系统精度的不断提高,对其测试装置的要求也越来越高。论文首先简要阐述了国内外三轴转台的研究现状,并简要总结了我国转台的发展方向、各类控制方法在该领域的应用情况以及转台控制系统存在的主要问题。根据系统的性能指标要求,给出了三轴转台的总体控制系统设计方案。区别于普通转台单电机驱动的方式,我们采用双电机驱动,不仅能够提供较大的转矩,同时也有利于解决偏心问题。但是,双电机驱动必然会带来两个电机的同步控制问题,论文采用了转矩调节器的主从控制方式,简易地实现了电机的同步控制。论文针对扰动力矩提出采用模型参考自适应控制策略对三轴转台进行控制系统设计。论文分别建立了三轴转台三个轴的动力学模型,然后根据系统性能指标要求,设定了参考模型,并最终搭建了完整的模型参考自适应系统仿真框图。同时对三阶模型跟踪二阶模型的效果进行了考察,结果表明与三阶模型跟踪三阶模型效果相差不大。模型参考自适应控制方法的系统仿真表明,在系统存在非线性特性和较强的负载干扰力矩时,该控制系统能够有效抑制外界干扰和参数摄动的影响,实现了良好的跟踪特性。论文建立了三个单轴控制系统数学模型,用经典的PID控制策略,以速度环和位置环双闭环的控制方式,对转台系统完成了超前滞后校正设计。针对转台要求频带宽度较高的现象,我们以外框为例采取了前馈控制加反馈控制的复合控制方式,结果表明前馈控制可以在保证稳定性不变的情况下,提高系统响应速度以及减小稳态误差。对经典的PID控制策略和模型参考自适应控制策略进行了比较,结果表明,PID可以在对精确的数学模型以及被控对象在微弱变化时的控制效果满足要求,而当控制对象有较大变化或者扰动较大时,其控制效果不良。与PID相比,模型参考自适应控制策略取得了更好的动态性能和稳态精度。更多还原

【Abstract】 Three-axis turntable is applied in-the-loop simulation system to simulate the measured object pose variation. In the paper, we research on three-axis turntable.Basing on the practical project, we mainly research the design of the three-axis turntable.With the improvement of the precision weapons systems, their testing devices need increasingly high requirements. First, briefly described the current research state of the domestic and international three-axis turntable, and concluded our cuntry’s turntable development direction and kinds of contolling ways’application and main questions existed in three-axis turntable control system.According to the system performance requirements of three-axis turntable, we proposed the overall control system design program. Different from single-motor drive for the turntable, we adopted the style of the dual-motor drive. It not only can supply enough torque, but also is useful to solve the question of deviating from the center of gravity. But, dual-motor drive will certainly bring two motors’drive unsynchronous, we adopted torque regulator’s master-slave control mode, easily realized motors synchronous controlling.Second, against the disturbance torque, we adopted the model reference adaptive control strategy for three-axis rotary table control system design. The paper set up three axises’dynamic model for three-axis turntable, then according to the performance requirements, set reference model and finally built a complete model reference system simulation block diagram. At the same time, we studied three-order model following two-order model, the results showed three-order model following three-order model was not a big difference. The way of model reference adaptive control used in the system simulation showed that it could realize good tracking and inhibit effectively outside disturbance and parameters changing when the system existed nonlinear and strong load disturbance.We set up three single-axis control system mathmatics model, used classic PID strategy by the way of double loop: speed loop and position loop to complete the lead and lag correction for turntable control system. For the higher bandwidth requirements to the three-axis turntable, we made outline as an example, adopted complex control methods of the feedforward control plus feedback control. The results showed that feedforward control could improve response speed and reduce steady-state error when it could ensure the same stable situation. We compared classic PID with model reference adaptive control, showing that PID could almost meet the controlling requirements for the precise mathematical model and the controlled object’s a weak change, but when there are significant changes in the controlled object or disturbance is large, PID control strategy would not meet the requirements. Compared with the PID, model reference adaptive control strategy can achieve a better dynamic performance and steady precision.更多还原