【作者】 靳蒙；

【导师】 吴盛林； 袁立鹏；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2007， 硕士

【摘要】 振动台是一种在实验室内提供典型振动条件或模拟再现环境、用以检验和评价各类工程装置及设备机械力学性能的标准试验设备。其中三轴液压角振动台作为一种独特的振动环境模拟设备在导弹、火箭、卫星等国防工业的发展中有独特的作用。三轴液压角振动台是一个十分复杂的非线性系统,采用单纯的PID控制技术,控制精度不能达到要求。为了使系统的输出能很好的复现期望的响应信号,本文引入了迭代学习控制算法的非线性控制策略,通过对驱动信号的不断校正有效地抑制周期性的干扰,减小系统输出与期望的响应信号之间的偏差。针对控制系统的稳定性以及迭代学习的收敛性,提出了复合迭代学习控制的方式,并从频域角度给出了其收敛性条件。本文分别针对三轴角振动台的内框以及单轴角振动台系统建立了完整的阀控马达系统的数学模型。在对阀控马达电液位置伺服系统合理简化的基础上进行了复合迭代学习控制器的设计。通过分析系统的稳定性、系统频宽和控制精度,设计了加速度反馈、微分前馈以及迭代学习控制器。有效提高了系统的综合性能。在所建模型的基础上,通过仿真分析,指出系统耦合是随着输入信号的频率、幅值增大而增大的,并且频率对耦合的影响要大于幅值对耦合的影响。本文用逆系统的解耦方法对其进行了解耦设计,得到一个线性模型,这样就可以用线性系统理论对其进行分析和设计。最后本文对单轴角振动台试验系统进行了实验研究,实验结果表明,所设计的单轴角振动台试验系统及本文所提出的控制策略可以达到设计要求。更多还原

【Abstract】 Vibration table is a kind of standard experiment equipment which is used to provide classical vibration conditions, simulate and reappear the environment, test and evaluate the mechanical function of all kinds of engineering equipment. There-axis angle vibration hydraulic table is a special kind of vibration environment simulated equipment which is widely used in national defense industry, such as missiles, rockets and satellites.There-axis angle vibration hydraulic table is a kind of non-linear system which is very complex. If you take pure servo-control still to control, it is difficult to increase the control accuracy to a high level. for the sake of reduce the bias between actual output of the system and the ideal response better, this paper use iteration-learning-control to iteratively compensate the input signal by the way of restraining cyclical interference. This paper expounds the basic theory of the iteration-learning-control. And two kind of iteration-learning-control which are open loop and closed loop are analyzed about their structures and merits. Aim at the stabilization of the control system and the convergence of the iteration-learning-control, a compound iteration-learning-control is adopted, and the convergence criterion is given from the frequency-domain’s point of view.The mathematical model of motor controlling by the valves is set up in this paper by the way of analyzing the inner gimbals of the there-axis angle vibration table and the system of one-axis angle vibration table. Based on the simplified model, the compound iteration-learning-control is designed. Feedback control、feed forward control and iteration-learning-control are designed by the way of analyzing stability、bandwidth and control accuracy which has improved the synthesis function of the system effectively.Based on the model, the conclusions are reached that coupling of the system is enhanced with the enhancement of frequency and width of the input signal, and frequency’s influence on coupling is much more than width’s influence on coupling. The decoupling design of the system by the method of inverse-system decoupling is presented and a linear model is resulted. Then, linear system theory can be used to analysis and design the system. Lastly, the author dose some experiment on the three axis flight simulator table experiment system. The experiment results show that the system designed has reached the design target.更多还原