【作者】 闫述；

【导师】 王旭永；

【作者基本信息】 上海交通大学 ， 机械电子工程， 2007， 硕士

【摘要】 航空航天技术是衡量一个国家综合国力的重要方面,越来越受到各个国家的高度重视,在国防中的作用更为显著。其中导弹技术尤为重要,它的发展是先进航空航天技术的综合体现。仿真转台是在导弹研制过程中极其重要的高精尖仿真实验设备,具有重大的经济价值和国防战略意义。仿真转台性能的优劣直接关系到仿真实验可靠性和置信度,是保证航空航天和武器系统精确度和性能的基础。应海军某基地要求,我所研制开发了三轴转台系统。在转台的整体方案设计过程中,为了实现或改善其中的一些指标,其中有一些非线性的问题是不得不考虑的。这些非线性的问题中,有的是影响转台的精确度的,而有的在一定情况下则可以改变转台的动态性能。本文主要针对我所承担的三轴转台系统的控制策略,和控制系统的硬件、软件、性能等进行了设计和实验研究,达到了良好的效果。首先在第一章的绪论中分析了当今社会对转台研究的现状,并对转台的关键技术做了初步分析。在第二章中,对本转台系统做了介绍并且为液压马达建立了数学模型。介绍了工程上常用的摩擦力模型,并阐述了摩擦力的产生与本系统的摩擦力计算。同时简要说明了摩擦对系统的影响及补偿方法。第三章中,对控制结构进行了介绍。并提出了传统PID控制器的缺陷,提出了一种改进的PID控制器,在应用中收到了良好的效果。在接下来的第四章里,表述了实际系统的硬件设置、连线和端子分配。介绍了系统中使用的四块研华的板卡以及一块NI的板卡和一块VMIC的反射内存网卡的设置及连线,并对端子的分配进行了说明。第五章介绍了xPC下的软件实现。并且详细说明了有关找零、信号发生、转台保护、实时网络交互等模块的实现原理。接下来在第六章中,在实际系统上做了实验,介绍了参数调试对系统响应的影响,并对实验数据进行了分析,得出结论。最后对本文做了总结并对项目进行了展望。更多还原

【Abstract】 As an important aspect in estimating general national power, especially in national defense of one country, aviation and spaceflight technology has been highly emphasized by all the countries. And missile technology is much important and is the integrated exhibition of advanced aviation and spaceflight technology. Flight motion simulator is most important simulation experiment equipment in missile research process with high accurate and cuspidate capability. It has great economic value and strategic significance in national defense. Dependability and reliability of simulation experiment are highly connected with the capability and performance of the simulator, which is the basis of the accurate and performance of aviation and spaceflight weapon system.The 3-axis flight motion simulator system is being researched and developed by our institute for China Navy. In the process of the R&D of the simulator, some nonlinear factors can’t be neglected to realize or improve some performance. And some of the factors could affect the precision, while some others may change the dynamic performance of the simulator.This paper has studied hardware, software, and control tactic and performance experiment for the control system. And excellent effect had been acquired.First of all, the paper has described the actuality of the simulator researched by both domestic and abroad, and analyzed the key technology of the simulator.Then, the paper has introduced the simulator system and set up a mathematic model of the hollow hydraulic motor. And, the friction models which are usually used have been introduced. The reason why the frictions exist is indicated and the friction moment has been calculated quantificationally. The affection and the compensating method of the friction have been briefly introduced, too.In the third chapter, the struction of the control system and the shortcuts of the traditional PID controller have been raised, and then the paper indicates a kind of improved PID controller to solve the shortcuts. Taking the improved controller into practice has pay back an excellent result. And then, the paper has enunciated the configuration of the hardware, the way of wire-connection, and pin connector assignment of the cards, including four Advantech I/O cards, an NI counter and a VMIC reflective momery cards.In the fifth chapter, the software realization of the system in Simulink has been represented detailedly. The principle and the struction of some modules, including adjusting coordinate, signal generator, protection of the simulator, data alternation in real-time network, etc, has been introduced.Then plenty of experiment has been done and a set of parameter is fixed, with which an excellent result has been acquired.Finally, the summary of the paper has been shown, and the prospect of the project and relay has been represented.更多还原