【作者】 朱宁；

【导师】 张卯瑞；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程（专业学位）， 2016， 硕士

【摘要】 三轴仿真转台作为半实物仿真的关键设备,三个自由度分别模拟飞行器在飞行中的三个姿态,其性能的好坏直接决定被测系统或被测元件的研制周期及最终的性能优劣。随着国防科技的进步,对转台的性能指标要求也越来越高。本文基于某科研单位与电液技术研究所合作研发的三轴电液伺服仿真转台项目,进行了整体结构选型和控制结构分析,并针对中框液压系统通过理论分析推倒出理论模型,之后通过扫频辨识了系统实际参数。针对此模型通过极点配置设计了内环控制器,通过迟后校正设计了外环控制器,同时设计了前馈控制器,并通过数值仿真验证了控制器的有效性。针对系统在实际工作过程中,由于存在摩擦等非线性,系统模型参数变化和模型不确定性较大时,需要对内部运行状态进行观测,采用了一种高增益观测器对系统进行状态估计。针对系统在低速运行时的外部扰动,采用基于高增益观测器的扩张观测器,将外部扰动作为内部状态进行观测,并将该信号用于补偿,通过数值仿真验证了该状态观测和补偿控制的有效性。最后,完成部分硬件设计,软件程序研发,系统保护方案等方面系统的实现设计方案。更多还原

【Abstract】 Three-axis simulation turntable is the important equipment used for the hardware-in-the-loop simulation with three-degree of freedom to simulate craft three attitude in flying. The performance of the turntable determines the system or component which is tested by the turntable. With the progress of the national defense technology, performance requirements of turntable system have been increasingly demanded.Based on the development project of three-axis electronic-hydraulic servo simulation platform which is researched by a research institute and the Institute of electrical and hydraulic technology, this paper puts forward the design scheme of the system, especially the control system design. In this paper, the theoretical model of the middle frame hydraulic system is obtained with theoretical analysis, and then identified the actual parameters of the system through the sweep frequency. In this paper, the inner loop controller is designed by pole placement, the outer loop controller is designed through the lag correction, and a forward-feed controller is designed, and the validity of the controller is verified by numerical simulation.In view of the system in practical work process, due to the presence of such as nonlinear friction, system model parameter variations and model uncertainty, the internal operation state needs to be observed, and a high gain observer is used to estimate the state of the system. For the external disturbance of the system at low speed operation, in this paper, the expansion of observer based on high gain observer is used to observe the external disturbance as an internal state and used to compensate the signal. Through numerical simulation, the state observation and compensation control is proved to be effective.At last, the paper introduces the turntable software’s overall framework,interface and the software protection which ensures the reliability and stability of the system.更多还原