【作者】 徐民；

【导师】 李长春；

【作者基本信息】 北京交通大学 ， 机械电子工程， 2008， 硕士

【摘要】 本文以北京市科委支持项目为背景,建立夹持同步控制实验平台,利用电液伺服数字控制及实现技术,对加载系统的多余力问题进行了研究,结合夹持同步系统自身特点设计夹持同步控制算法,实现了高精度的夹持力控制。首先,本文根据夹持同步控制系统结构及运动特点,分析并提出了夹持同步控制中的关键问题。在广泛阅读相关文献的基础上,总结了针对多余力问题的各种校正方法,介绍了电液力系统的控制策略研究发展情况。其次,根据夹持同步控制工作原理和过程,进行了系统解析建模研究,对于实际中难以精确得到的参数,给出相应估算或试验测量方法,并进行了夹持同步位置、力加载系统时域仿真和频域计算。对多余力的产生机理进行深入分析,并对其工作特点进行研究。在理论分析和仿真计算的基础上,由结构不变性原理校正多余力和实际应用的估计速度相位滞后等问题,提出结构矢量校正设计思路,并引入迭代自学习控制思想,提出结构矢量自学习方法,以完成结构矢量校正控制器的自动设计和优化过程。再次,完成对夹持同步控制系统数字控制硬件接口的设计。研究基于Windows操作系统的实时中断、数据采集和实时数据显示以及存储等工作的实现技术,完成对控制过程和控制策略的面向对象方法的设计。最后,介绍了夹持同步控制实验研究情况。在实现了夹持同步力加载数字控制的基础上,进行了结构不变性原理补偿、结构矢量修正补偿实验研究,进一步对基于迭代学习控制确定结构矢量控制方法进行了研究。更多还原

【Abstract】 The thesis is focused on a scientific research item of Beijing Municipal Science&Technology Commission. It establishes the grasping synchronization control experiment platform. Taking advantage of electro-hydraulic servo digital control technology, the surplus force of loading system is researched. Then combined grasping synchronization control system with its own characteristics, the control algorithm is designed. The grasping synchronization control system achieves a high-accuracy.Firstly, according to system structure and movement characteristics, the critical problem in grasping synchronization control procedure is analyzed and lodged. Based on numerous related literatures and reference materials at home and abroad, it summarizes the various correction methods for surplus force, and introduces the control strategy development of electro-hydraulic force control system.Secondly, on the basis of working principle and process of grasping synchronization control system, the mathematical models of system are built and the correlative parameters of system model are estimated and calculated. Then the time simulation and frequency simulation study of position control system and force control system are carried out. Furthermore, the mechanism and operating features of surplus force are deeply analyzed and researched. The design method of structure vector control has been raised in connection with the problems that surplus force correction by structure -invariable theory and the estimate of velocity phase lag in practical application. Thinking of ILC theory, the structure vector learning method is put forward, in order to complete the automatic design and optimization process of the structure vector correction controller.Thirdly, the digital hardware interface of grasping synchronization control system is designed. The implementing technology about real-time discontinuity, data acquisition, real-time data display and data storage in Windows are studied. The design of control process and strategy with object-oriented methods are completed.Finally, experiment study for grasping synchronization control system is performed. With the realization of grasping synchronization force loading digital control, some experiments and researches have been done, such as the experiment of structure-invariable theory compensation and structure vector correction compensation, as well as the method of structure vector control basing on ILC.更多还原