【作者】 刘东；

【导师】 杨亚非；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2008， 硕士

【摘要】 本文以高精度电液混合光学成像制导仿真控制系统为背景,重点讨论了液压油源油温扰动、油压波动和负载变化对系统动态性能的影响,通过分数阶自适应控制器设计改善了系统动态性能。首先,根据电液位置伺服系统工作原理确定系统的总体结构,推导出电液伺服阀和液压马达的数学模型,从而获得被控对象的标称模型;在此基础上,通过详细分析油源油温扰动、油压波动和负载变化产生机理,并得到其相应的数学模型。其次,考虑参数波动和外部扰动问题,深入研究分数阶模型参考自适应控制方法。通过阐述分数阶微积分理论及其在控制领域中的应用,将其与整数阶控制方法对比可知,分数阶控制更容易获得系统性能优化点;结合分数阶控制理论和模型参考自适应方法给出一种新颖的控制器设计方法,同时对控制器抑制系统参数扰动和外部扰动的效果进行分析。最后,以电液伺服转台为背景,描述了系统设计的基本问题和指标要求。针对油源油温扰动、油压波动和负载变化的特点,采用分数阶模型参考自适应方法进行抑制,根据参考模型的选取原则,选取适当的分数阶参考模型,给出控制器实现算法。将分数阶模型参考自适应方法应用于电液位置伺服系统中,仿真结果表明,采用本文方法,系统的动态控制性能以及对系统参数波动和外部扰动的抑制效果良好。更多还原

【Abstract】 Based on a certain high precision electro-hyadraulic position system for optical guidance, this paper focus on the system dynamic performace effects from oil-temperature disturbance, pressure waving and loads changing, and improves the the dynamic performance through the design of fractional order model referenc adaptive controller.Firstly, the control structure of servo turntable system was designed based on hydraulic theroy. The mathematic model of electro-hydraulic servo-valve and hydraulic-motor were deduced. Moreover, the mathematic model was given with complete decoupling. The disterbance and its information mechanism appeared in the system was analyzed and modeled in detail, which were the oil-tepemrature disterbance and the pressure waving and described as system parameters changing and external disterbance.Secondly, focusing on parameters changing and external disterbance in hydraulic servo-system, the method of adaptive control with fractional order model reference was researched in detail. The fractional order calculous theory was given, so were the applications in control areas, which was more easy to reach the opti-performance point than integral order system; A new controller design was given through combining fractional order control theory and MRAC theory, at the same time the restraining performance in hydraulic servo-system was analyzed, which is for system parameters waving and external disterbance.Finally, the basic problems of the system design and the performance requirement were described. Focusing on oil-temperature disterbance, pressure waving and load changing, the fractional order model reference adaptive controller was given. Meanwhile, fractional order reference model was selected according to its select principle after getting the parameter in the model, and the algorithmic realization was attached. The results of theory analysis and simulation validation indicate that the controller makes turntable system have a good dynamic performance and restraining performance for parameters waving and external disterbance.更多还原