【作者】 陈千平；

【导师】 李建更； 孙亮；

【作者基本信息】 北京工业大学 ， 控制理论与控制工程， 2006， 硕士

【摘要】 液压伺服系统是控制领域中的一个重要的组成部分。被控对象(液压振动台)具有负载压力和额定功率相当大的特点,因此要求传输和控制的功率要相当可观;而且它还具有数学模型阶数高、闭环频带宽度窄、稳定性差等特点。本课题以“铁马工程”项目为背景,以液压振动台为被控对象,伺服控制器的设计和实现为工作的核心。首先基于液压振动系统的数学模型,对系统的稳定性和动态特性加以分析,并在此基础上设计不同的控制算法以达到展宽频带宽度的要求。在实际应用中按照技术和性能指标要求,以及参考行业的经验知识,采用双闭环的控制方法。内闭环控制器用来调节三级电液伺服阀,外闭环控制器用来调节整个液压振动系统跟踪的快速性、减小系统的稳态误差和展宽系统跟踪的频带宽度。采用DSP技术的伺服控制器的设计和实现是整个课题的核心内容。不仅能够实现对液压振动系统的控制,还能够实现上位机的实时监测和控制。符合工业标准的CompactPCI总线技术也是该控制器的特色之一。控制器的软件可以分为跟上位机通讯模块和伺服控制模块。同时,在理论仿真和实际现场调试之间,还有一个重要的环节就是电模拟仿真(即半实物仿真)。设计、制作液压振动系统的电模拟模型仿真系统也是工作的重要内容之一。然后结合双闭环控制器和电模拟仿真模型,验证所设计的控制方法和所搭建的控制器的有效性,并进一步模拟现场可能出现的各种情况,得到仿真结论。最后将所做的仿真工作在现场进行验证,对“铁马工程”中所采用的伺服控制系统的各个参数进行调整,直到各项性能指标都达到了用户的需求。更多还原

【Abstract】 The servo HPVS (hydraulic pressure vibration system) is an important part in control region. The hydraulic pressure vibration platform is considered the controlled object. The design of appropriate platform of controller and implement are the main work. The controlled object HYVP (hydraulic pressure vibration platform) has the property of big loading pressure and rating power, so it need considerable transmitted and control power, it also has the property of high-level math model, and narrow frequency width in closed-loop, and bad stability.This thesis is based on the HPVS in the“Tiema project”. It begins with the math model’s building, simulation research in theory and half- practicality, then design the appropriate platform of controller, at last it must be verified in the industry local. First calculate the math model of each department of the HPVS, and analyze it’s character of the scope with frequency in theory, and base on this some different control methods are designed to resolve the system’s stability and expand it’s frequency band. The method of adding line trap and acceleration feedback which based on the character of frequency, the method for the problem of designing tracking regulator is transformed to the designing of state adjustor which based on the line system theory, we can get the good control result with these methods. In industry we adopt the method of double close-loop controller because we must consider the technique target and economy target together.It’s the core of this thesis that the controller’s design with the technology of Digital Signal Processor (DSP). It can not only control the HPVS, but also it can realize the real-time supervise and control on PC. It’s one of important features of that the CompactPCI technology which accords with the industry standard. The software of the controller contains the module of communication with PC and the module of servo control.There is an important step which between the simulation in theory and the debugging in industry locale must to be done, the step is electric simulation (it’s also mean half-real simulation). Design and produce the HPVS’s electric simulate model, combine with the double close-loop controller, Simulate the system’s self-excited phenomenon and the badly signal’s character, and to find the root reason and the solution method.At last all the results of simulator in theory and electric simulation have been更多还原