【作者】 邓凯；

【导师】 孟光； 杨斌堂；

【作者基本信息】 上海交通大学 ， 机械工程， 2015， 硕士

【摘要】 在精密加工、航天工程等高精度领域,如何实现超精密的驱动定位或对高精度仪器设备的微振动隔振是一个重要的研究课题。为了实现高精密的定位驱动和微振动的主动隔振,论文基于单自由度驱动器,针对PID反馈控制、自适应控制等多种控制算法进行了仿真以及实验验证。基于广义预测自适应控制方法提出动态前馈补偿的自适应预测控制的一种方法,并进行了相关的实验验证。最终,基于单自由度驱动器的精密控制研究成果及MIMO系统辨识与自适应控制技术,实现了磁致伸缩多自由度精密平台驱动定位及振动主动控制,创新地提出多自由度平台动态前馈补偿的解耦驱动控制,并进行了相关的实验验证。本文的主要工作如下:(1)基于单自由度磁致伸缩驱动器,论文讨论研究前馈补偿的PID反馈控制、最小方差自校正控制、广义间接最小方差自校正控制以及广义预测自适应控制等多种控制算法对于驱动器精密定位的有效性,并进行了相应的仿真及实验验证。基于预测自适应控制算法提出了动态前馈补偿的广义预测自适应控制方法,经仿真和实验结果表明,该算法可以有效的实现磁致伸缩驱动器的精密驱动,并将其应用于单自由度磁致伸缩驱动器的振动主动控制实现。(2)基于ARM嵌入式系统,论文建立了一套磁致伸缩驱动器控制系统,并进行了开环和闭环控制实验验证。实验结果表明,该控制系统可以有效的提高控制运算速度,进而实现磁致伸缩驱动器的中频驱动控制。(3)基于哈密顿方程完成了磁致伸缩多自由度精密平台的动力学建模,进行了相应的仿真,并基于ADAMS完成了平台的输入输出响应特性分析。最后,基于多自由度平台的动力学模型,完成了平台的SIMULINK振动主动控制初步仿真。(4)基于单自由度驱动器的动态前馈补偿自适应控制,论文提出了多自由度精密平台的动态前馈补偿的解耦驱动控制,并进行了相关的仿真和实验验证。基于MIMO系统辨识与自适应控制,完成了多自由度精密平台的驱动控制研究,并进行相应的实验验证。最后,论文将该控制方法应用于多自由度精密平台的振动主动控制实现。更多还原

【Abstract】 In the precision and aerospace engineering field, how to realize the precision drive positioning or the environmental vibration isolation of high precision instruments and equipment is a very critical problem. In order to solve the high precision drive or micro vibration isolation, we discuss kinds of the technologies of drive control and have realized the simulation and test verification of these algorithms including feedforward control, adaptive predictive control containing dynamic feedforward compensation and so on. At last, we realize a precision drive control and the active vibration isolation of the multi-degrees freedoms platform.The article mainly contains the following aspects:(1) We use kinds of control algorithms to realize the drive control of single-degree of freedom magnetostrictive actuator including PID feedback control with feed-forward compensation, minimum variance self-tuning regulator, indirect generalized minimum variance self-tuning control and generalized predictive adaptive control. Through the simulation and test of these control algorithms, we propose a new control method named the adaptive control containing the dynamic feed-forward compensation. And this new control method can realize the precision drive control of the actuator and the active vibration isolation which have been proved by simulation and experimental tests.(2) We build a new control system based on ARM embedded system and carry on the experiment of open loop and closed loop control. By the ARM control system, we can effectively improve the calculation speed and the working frequency band of the magnetostrictive actuator.(3) We also complete the dynamic modeling and the simulation of the precision platform and complete the dynamic response simulation and the vibration isolation control simulation of multi degrees of freedoms platform through the ADAMS and SIMULINK.(4) At last, we complete the decoupling control of 3-dof platform based on the generalized predictive adaptive control with dynamic feedforward compensation and also complete the experiment verification. And we also realize the system identification and adaptive control based on least square method and CARMA model, finally realize high precision positioning and the active vibration isolation of the 3-dof platform.更多还原