电动加载系统复合控制方法分析-机械电子工程专业论文.docxVIP

中北大学学位论文 中北大学学位论文 电动加载系统复合控制方法研究 摘 要 电动加载系统在航空航天、工业生产和科学研究等领域有广泛的应用价值。加载系 统的高性能主要表现在对指令转矩的快速、精确的跟踪，以及对承载对象运动引起的多 余力矩的抑制和补偿上。多余力矩是一种力矩和位置的耦合产生的强位置干扰，严重影 响了系统的控制性能，使系统无法精确跟踪参考输入指令。由于多余力矩的产生和系统 本身的非线性和不确定性，传统的控制策略难以对其进行有效的抑制。因此，为提高系 统的性能，进行加载系统的先进控制策略研究是非常必要的。 通过分析电动加载系统的组成结构和工作原理，推导各部分的传递函数，得到了电 动加载系统的数学模型。为了抑制系统多余力矩的干扰，根据 PID 控制器三个参数的特 性，设计了模糊自整定 PID 控制器。通过 MATLAB 进行仿真实验，系统的输出转矩能 够跟踪给定输入转矩，并且稳态误差降低了一个数量级，因此提高了系统的控制性能。 最后，为了使系统误差经过多个周期后逐渐减小，引入了复合控制器，将模糊自整定 PID 控制器和重复控制器并联构成复合控制器来提高系统的控制精度。仿真结果表明， 该方法可以更有效的减小跟踪误差，提高了系统的控制精度。 关键词：电动加载系统，多余力矩，模糊自整定 PID，重复控制，复合控制 Research on Composite Control Method of Motor-driven Loading System Abstract The motor-driven loading system has important application value in many fields such as aviation and aerospace, industrial production, scientific research etc. The loading system can track fast and accurately tracking to torque instruction signal, and suppress or compensate the superfluous torque caused by movement of loaded objects. The surplus torque is a kind of strong disturbance formed by the torque and position coupling between the loading and loaded system, it seriously affected the control performance of the system, system cannot accurately track the reference input instructions. Due to the surplus torque is generated and the nonlinearity and uncertainty are inherent in the loading system, it is very difficult to restrain it effectively using traditional control methods. So it is necessary to undertake an in-depth study on the advanced control structures and strategies suitable for the motor-driven loading system. First of all, through the analysis of structure and working principle of the motor-driven loading system, the author derives the transfer function of each part, and gets the overall mathematical model of the motor-driven loading system. In order to restrain the disturbance of surplus torque of the motor-driven loading system, a self-adaptive fuzzy PID controller is designed according to the character of the three paramet