【作者】 王欢；

【导师】 马杰；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2019， 硕士

【摘要】 位置伺服转台在实际应用中面临着非线性摩擦和模型摄动等因素的影响,这要求控制器具有较强的鲁棒性和抗干扰能力,才能够满足转台的高性能动、静态指标的要求。双回路控制方法是一种通过增加辅助内回路而提升系统的扰动抑制能力的控制手段,然而,在伺服转台上应用双回路控制器时,存在内环反馈信号难以获取和控制策略如何设计等实际问题未得到解决。本文以提升转台的伺服性能为目标,基于双回路控制的思想,对比研究了不同内回路反馈信号对转台抗干扰性能的影响,利用频域控制和滑模控制的思想设计了基于位置和速度的双回路控制器,并最终在转台系统中验证了所设计的方法的控制效果。研究内容主要包括以下几个方面:首先,给出了位置伺服转台的数学模型,全面地总结了实际转台系统中存在的非线性因素和模型摄动,分析了这些因素对转台系统控制性能的影响,并阐述了采用双回路控制方法改善转台控制性能的合理性。其次,考虑到位置伺服转台内回路的反馈信号有速度信号和加速度信号两种选择,从抗干扰性能的角度出发,对比分析了基于位置和速度的双回路控制方法与基于位置和加速度的双回路控制方法的性能,通过理论分析和仿真实验,验证了在外回路特性相同条件下这两种双回路控制方法的抗扰性能具有等价性。再次,研究了基于位置和速度的双回路控制器的设计与实现问题。在非线性跟踪微分器的基础上,提出了自适应的跟踪微分器,然后结合位置差分法,设计了融合的速度估计方法,解决了速度信号获取的问题。之后,设计了速度内环频域控制器,利用滑模控制思想设计了位置外环控制器,通过对比仿真实验,验证了所设计的双回路控制器的优越性。最后,将基于位置和速度的双回路控制器离散实现,并成功应用于某两轴转台上。通过对转台不同工况下的对比实验,验证了本文所设计的双回路控制器相比于单纯的位置环控制器和传统的双回路频域控制器的优越性,充分说明了所设计的双回路控制器能够提升转台系统的跟踪性能,也能够提高系统的抗扰性能和对负载变化的适应能力。更多还原

【Abstract】 There are many disturbances and nonliner factors in the practical position servo turntable.To satisfy both the dynamic and the static performance requirements,the designed controller is required to be robust.Double-loop cascade control method is known as a control strategy which can improve the anti-disturbance performance of a system.Howerver,when applying the double closed-loop control method on the servo turntable system,some practical problems are to be resolved.Aim at improving the tracking performance of the position servo turntable,the influence of choosing different feedback signal of the inner loop on the anti-disturbance performance is compared.Furthermore,with frequency controller designing method,double closed-loop controller based on position and speed is designed,and the control method is realised in practical application.The main aspects are given as following.Firstly,the structure and mechanistic model of the position servo turntable are given.Nonliner disturbances and model perturbation in actual turntable system are summarized comprehensively,and their effect on system performance is analyzed in detail.Then,the necessity of applying double closed-loop control strategy to improve the anti-disturbance performance is illustrated.Secondly,double closed-loop control method based on position and speed and double closed-loop control method based on position and acceleration are comparatively analyzed from the point of the anti-disturbance performance of the turntable.On condition that the controllers are properly designed,the equivalency of the two kinds of double closed-loop control method is verified via theoretical analysis and simulation experiment.Thirdly,the controller design rules and implementation issues of double closed-loop control method based on position and speed are deeply studied.Combining adaptive nonliner tracking differentiator with position difference method,a fusion speed estimation method is designed,which can solve the problem of how to obtaining the speed signal.Then,the controllers of the postion outer loop and the speed inner loop are designed.The efficiency of double closed-loop control method is validated by the comparative simulation experiment with the traditional single loop control method.Finally,double closed-loop controller is discretized and programmed in the practical engineering application.Through comparative experiments under different working conditions,the superiority of the double closed-loop control method is verified in the application on a real two-axis turntable,which illustrates the improvement of the tracking precision and the anti-disturbance performance.更多还原