【作者】 张华；

【导师】 马广富；

【作者基本信息】 哈尔滨工业大学 ， 导航、制导与控制， 2006， 硕士

【摘要】 本论文以某三轴仿真转台的研制为背景,对转台伺服控制系统进行了设计研究,包括转台的结构组成、数学模型以及控制系统设计方法。针对对象存在的非线性和不确定性,本文提出了应用T-S模糊理论,将非线性问题的处理归结为线性矩阵不等式(LMI)的求解问题,并基于T-S模糊模型对转台控制对象进行了设计和仿真分析。本文主要内容有:首先根据系统性能指标要求及实际情况,给出了转台的机械结构,并选择了无刷直流电动机为驱动元件和光电码盘为测量元件。论述了无刷直流伺服电动机的工作原理及其特性,推导出其非线性动力学模型。同时给出了转台对象的主要不确定性因素,并详细分析了它们对系统的影响。其次主要研究了基于T-S模糊模型的跟踪控制问题,介绍了T-S模糊模型以及LMI基本理论,之后研究了模型参考跟踪控制理论。给出了能保证系统具有给定的H_∞跟踪控制性能的充分条件,同时,针对系统存在的不确定性,给出了既能保证鲁棒稳定性又能保证跟踪控制性能的充分条件,为转台控制器的设计奠定了基础。最后对转台控制系统进行了设计和仿真研究。通过转台的非线性动力学模型建立了转台速度环以及位置环的T-S模糊模型,设计了实现速率定位功能的速度环鲁棒最优控制器。根据实际系统要求的性能指标给出了需要跟踪的转台参考模型,然后针对系统存在和不存在不确定性的两种情况分别对转台设计了基于观测器的T-S模糊控制器,应用Matlab Simulink建立了仿真模块,并对仿真结果进行了分析,结果表明满足系统提出的性能指标,而且具有很好的抗干扰能力。更多还原

【Abstract】 Under the background of the three-axes simulation table system, the table servo control system is studied and designed, including frame structure, mathematical model and method of control system design. T-S(Takagi-Sugeno) fuzzy theory is proposed to deal with the nonlinear and uncertainties of the plant, then the nonlinear problems can be converted to linear matrix inequalities(LMIs) problems which can be solved easily by using LMI optimization techniques. The table control system is designed and simulation analyzed based on T-S fuzzy model.The main content of the dissertation is as follow:First, according to the control performance of the system and actual application, mechanism frame of the table is presented. Then brushless dc motor is chosen to be driving element and angle encoder is chosen to be measuring element. The theory of brushless dc motor is discussed and its mathematical model is presented. The main factors of the table plant’s uncertainties are presented, and their influence on system is particularly analyzed.Second, theory of tracking control based on T-S fuzzy model is studied. Basic theory of T-S fuzzy and LMI is introduced. Then following control based reference model is studied. The sufficient condition which guarantees H_∞tracking control performance is proposed. For parametric uncertainties of plant, another sufficient condition by which both robust stability and tracking control performance can be guaranteed is proposed. These theories facilitate the next controller design of plant.The last, control system of the table is designed and simulated. The T-S fuzzy models of the velocity loop and position loop are constructed via the table’s nonlinear dynamic model. Robust-optimal controller of velocity-loop is designed for velocity orientation. According the actual performance of system, the reference model which needs to be tracked is built. Then T-S fuzzy controllers based on observer are designed with parametric uncertainties or not, respectively. Simulation module is built by Matlab Simulink, then the simulation results are analyzed and the performance has been satisfied, and close-loop system has good capability of disturbance rejection.更多还原