发射装置高性能伺服系统研究与应用

【作者】 陈群峰；

【导师】 张龙；

【作者基本信息】 南京理工大学 ， 机械电子工程， 2007， 硕士

【摘要】 本文是以发射装置为研究背景，对其伺服控制系统的设计与实现进行研究。发射装置伺服系统具有转动惯量大的特点，并要求有较高的控制精度和响应速度。本文运用系统设计、理论分析、计算机仿真以及实验研究等方法，分别将复合前馈控制和模糊PID自整定控制运用到发射装置位置伺服系统中。该研究工作对于提高发射装置伺服系统的响应速度和动态伺服精度，具有重要的参考价值。论文首先介绍了国内外对伺服系统的研究现状。根据发射装置俯仰调转和方位回转运动的特点，本文详细介绍了该伺服系统的总体设计方案。接着推导了交流伺服系统的数学模型，并根据发射装置伺服系统的性能要求，设计了系统的电流环、速度环和位置环，并建立位置伺服系统的三闭环模型，进行仿真分析，验证了模型的准确性。根据发射装置转动惯量大、负载变化大的特点，设计了模糊PID自整定控制器，它在PID控制的基础上，利用模糊控制原理对PID参数进行实时自整定。仿真结果表明，此方法能够获得很好的控制效果。最后，通过在实际控制平台上对发射装置伺服系统进行了传统PID控制、模糊PID自整定控制的实验，结果表明该伺服系统达到了要求的性能指标，并证实系统设计方案的正确性以及控制算法的有效性。同时，本方法的研究，对提高伺服系统的性能具有一定的参考价值和实用意义。更多还原

【Abstract】 The dissertation takes launching equipment as object, and studies the design andrealization of the servo system. The servo system of launching equipment has big inertia,meanwhile high accuracy and response speed are required. Feed-forward control andfuzzy-PID self-tuning control are applied by use of systematic designing, theoreticalanalysis, computer simulation and experimental research are applied to the launchingequipment. The research has an important significance in improving the response speedand dynamic precision of servo system.The dissertation first introduces the research work that has been done home andabroad on servo system. Then, overall design scheme of the system is elaboratelyintroduced according to pitching transferring and oriental rotating. In the following,mathematical model is induced, current-loop, speed-loop and position-loop are designedaccording to the performance requests. Then, the model of three-loop is built, andsimulation analysis is carried out to validate precision of the model. Fuzzy-PID self-tuningcontroller is designed according to the characteristics of big inertia and big range load, thismethod is based on PID control, and the parameters are real-time self-modified by fuzzytheory. The results of simulation indicate this method can gain good effects. Finally,experiments of PID control and fuzzy-PID self-tuning control are carried out on the actualcontrol platform. The results show that the design scheme is correct and the algorithms areeffective, and the system achieves good performances. Moreover, the study of thedissertation has a certain role on promoting the performance of servo system.更多还原