考虑测量噪声的双液压缸同步控制方法研究

【作者】 刘雷；

【导师】 马大为；

【作者基本信息】 南京理工大学 ， 机械制造及其自动化， 2019， 硕士

【摘要】 火箭炮发射装置双液压缸伺服系统是高度非线性的系统,其非线性特性主要表现在火箭炮发射装置的机构非线性(两个液压缸活塞杆位移与火箭炮发射架的转角之间的非线性关系)、阀的压力动态特性等,另外测量噪声的问题也影响着伺服系统同步控制跟踪精度。以双液压缸同步驱动火箭炮发射装置伺服系统为对象,开展高性能同步控制方法研究,以缩短调转火箭炮发射装置的时间。针对以上问题,主要展开了以下几个方面的研究工作:1、根据相关技术指标要求完成了对火箭炮发射装置双液压缸同步伺服驱动系统的主要参数的初步设计以及一些主要元部件的选型。建立了由双液压缸同步驱动火箭炮发射装置的伺服系统非线性数学模型,该模型考虑了系统主要的非线性特性、模型不确定性,更加准确地揭示了实际系统的物理特性,为后续设计高精度的非线性控制器奠定了基础。2、针对系统存在的测量噪声问题,设计两种控制器即基于期望补偿的鲁棒自适应控制策略和基于低频学习的鲁棒自适应控制策略,来使其降低对控制器性能的影响。前者因采用期望指令信号代替实际输出,参数自适应律对传感器的测量值依赖较小,同时将残差及不确定非线性进行鲁棒;后者在参数自适应律中融合了一种新型的低频学习来降低传感器测量噪声的影响,并且利用双出杆液压缸位置伺服系统实验平台对基于低频学习的鲁棒自适应控制方法进行了实验验证。3、基于火箭炮发射装置的双液压缸同步驱动非线性数学模型,设计了高阶滑模控制策略和基于低频学习的交叉耦合鲁棒控制策略,且都保持系统高性能的同步跟踪误差。相比于高阶滑模控制,后者将同步耦合误差的概念引入到控制器的设计中,同时考虑到了测量噪声的影响,理论上进行了严格的证明,并且以AMESim和Simulink作为仿真平台,通过联合仿真结果分析,验证了所提控制方法的正确性。更多还原

【Abstract】 The rocket launcher driven synchronously by two hydraulic cylinder servo system is a highly nonlinear system.Its nonlinear characteristics are mainly reflected in the nonlinearity of the rocket launcher’s mechanism(the nonlinear function relationship between the displacement of the rod of the hydraulic cylinder and the pitch angle of the rocket launcher),the nonlinear pressure-flow characteristics of valve and so on.In addition,the tracking accuracy of synchronous control of servo system is also influenced by the measurement noise.The high-performance synchronous control methods are carried out to shorten the time of turning rocket launcher.The aforementioned problems will be taken into consideration in this dissertation,the main work is as follows:First of all,according to the technical requirements,the preliminary design of the main parameters of the rocket launcher hydraulic servo system and the selection of components are completed.The nonlinear mathematical model of the rocket launcher driven by dual-cylinder system is established,which takes into account the main nonlinear characteristics and model uncertainties of the actual system and describes the physical characteristics of the actual system more accurately.The above model plays an important role in designing the subsequent high-performance nonlinear controller.Secondly,the robust adaptive control strategy based on desired compensation and the robust adaptive control strategy based on low-frequency learning are proposed for nonlinear system with measurement noise.For the former,the actual output signal is replaced by the desired signal so that parameter adaptation will depend less on the measured value of the sensor,meanwhile,nonlinear robust term is used to deal with the residual error and uncertainty nonlinear.the latter integrates parameter adaptation with a new low-frequency learning,to achieve the aim of attenuating measurement noise in the position servo system of the dual-rod hydraulic cylinder.Experimental verifications of the proposed control algorithm(robust adaptive control method based on low-frequency learning)is presented by using a double-rod hydraulic cylinder position servo experiment platform.Thirdly,two control strategies based on the nonlinear mathematical model of the rocket launcher driven by dual-cylinder system are designed to achieves high performance synchronous tracking error.Compared with high-order sliding mode control strategy,the cross-coupling method of robust adaptive control method based on low-frequency learning introduces the concept of synchronous coupling error into the design of controller with the consideration of measurement noise,and the designed controller is proved rigorously by using Lypunov theory.The co-simulation results of AMESim and Simulink show that the validity of the proposed control method.更多还原