|本期目录/Table of Contents|

[1]牛建军,付永领,刘和松.高精确度飞行仿真转台内框控制摩擦补偿研究[J].电机与控制学报,2008,(05):576-579.
 NIU Jian-jun,FU Yong-ling,LIU He-song.Inner axis control with friction compensation for high precision flight motion simulator[J].,2008,(05):576-579.
点击复制

高精确度飞行仿真转台内框控制摩擦补偿研究(PDF)
分享到:

《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
期数:
2008年05
页码:
576-579
栏目:
出版日期:
2008-09-15

文章信息/Info

Title:
Inner axis control with friction compensation for high precision flight motion simulator
作者:
牛建军; 付永领; 刘和松
北京航空航天大学自动化科学与电气工程学院
Author(s):
NIU Jian-jun; FU Yong-ling; LIU He-song
School of Automation Science and Electrical Engineering; Beihang University
关键词:
飞行仿真转台 复合控制 Stribeck模型 控制电压模型 摩擦补偿
Keywords:
flight motion simulator compounding control Stribeck model control voltage model friction compensation
分类号:
TP273.3
DOI:
-
文献标志码:
A
摘要:
为了实现高精确度飞行仿真转台直流力矩电机驱动内框的低速伺服目标,提出了在输入前馈和闭环PID控制的复合控制基础上构建Stribeck摩擦模型的等效控制电压模型进行摩擦超前补偿策略。首先针对转台内框伺服特性分析设计了复合控制策略;其次针对常规基于Stribeck模型摩擦补偿方法的不足和实验法辨识模型参数难的特点,提出利用转台内框本身的部件直接测定摩擦超前补偿的控制电压模型,并给出了3个关键参数的测定办法;最后将设计好的控制器用于内框低速伺服。实验结果表明,系统响应幅值为0.03,°频率为0.000 5 Hz三角波时跟踪误差在95%时间内在0.000 1°内,并对其他形式信号也有很高的动态跟踪精确度,从而证明在以非线性摩擦为主的扰动条件下所设计的控制策略能实现内框高品质低速伺服。
Abstract:
A new approach combined advance equivalent control voltage fiction compensation upon Stribeck mode with compound control based on input feed-forward and close loop PID control was presented to enhance the low speed servo performance for DC torque motor driven inner axis of a high precision flight motion simulator.Firstly,compound controller was designed to meet the requirements from the inner axis low speed servo analysis.Secondly,equivalent control voltage Stribeck model was established with its parameters directly acquired just with the available components of simulator itself, thus avoiding the shortcoming of conventional Stribeck model based method and the difficulty in determining parameter values for the model, and the ways how to access three key parameters were specified. Lastly, experiments were carried out to verify the approach on the inner axis servo control, with a triangle wave tracking with amplitude of 0.03° and frequency of 0.000 5 Hz, 95% time the tracking error is within 0.000 1°,tracking of other signals was also with high precision. The results show the scheme can accomplish sound low speed servo for the plant under the nonlinear friction leading disturbances.

参考文献/References:

[1]WIT C, NOEL P, AUBIN A, et al. Adaptive friction compensation in robot manipulators: lowvelocities[J]. International Journal of Robotics Research, 1993,10(3): 189-199.

[2]FEEMSTER M, VEDAGARBHA P, DAWSON D M, et al. Adaptive control techniques for friction compensation[J]. Mechatronics, 1999, 9: 125-145.

[3]WIT C, LISCHINSKY P. Adaptive friction compensation with partially known dynamic friction model[J]. International Journal of Adaptive Control and Signal Processing, 1997, 11: 65-80.[ZK)]

[4]刘强, 扈宏杰, 刘金琨,等.基于遗传算法的伺服系统摩擦参数辨识研究[J].系统工程与电子技术,2003,25(1):77-79.
LIU Qiang, HU Hongjie, LIU Jinkun, et al. Research on the parameter identification of friction model for servo systems based on genetic algorithms[J]. Systems Engineering and Electronics, 2003,25(1):77-79.

[5]焦竹青,屈百达,徐保国.基于遗传算法的直流伺服电机的摩擦补偿[J].清华大学学报,2007,47(s2):1875-1879.

JIAO Zhuqing,QU Baida,XU Baoguo. DC servo motor friction compensation using a genetic algorithm[J]. Journal of Tsinghua University, 2007,47(s2): 1875-1879.

[6]李书训,姚郁,王子才.一种自适应摩擦补偿方法研究[J].电机与控制学报,1999, 3(3):129-133. 

LI Shuxun, YAO Yu, WANG Zicai. Study of a method on adaptive friction compensation[J].Electric Machines and Control, 1999,3(3):129-133.

相似文献/References:

[1]于志伟,曾鸣,乔大鹏.采用复合控制的直流力矩电机摩擦补偿[J].电机与控制学报,2008,(05):539.
 YU Zhi-wei,ZENG Ming,QIAO Da-peng.Complex control for friction compensation in DC motors[J].,2008,(05):539.
[2]张腾飞,马福民.粗糙-神经网络逆模补偿的发电机励磁复合控制[J].电机与控制学报,2009,(01):104.
 ZHANG Teng-fei,MA Fu-min.Generator excitation compound control with rough neural network inverse system compensation[J].,2009,(05):104.
[3]王卫红,姚志超,郑连强,等.三轴飞行仿真转台自适应复合控制方法[J].电机与控制学报,2011,(09):74.
 WANG Wei-hong,YAO Zhi-chao,ZHENG Lian-qiang.Adaptive compound control method for the three-axis flight simulator[J].,2011,(05):74.
[4]王立峰,郑建勇,梅军,等.新型混合有源滤波装置的电流控制策略研究[J].电机与控制学报,2012,(01):23.
 WANG Li-feng,ZHENG Jian-yong,MEI Jun.Research on the current control strategy of a novel hybrid active filter[J].,2012,(05):23.
[5]党选举,徐小平,于晓明,等.永磁同步直线电机的小波神经网络控制[J].电机与控制学报,2013,(01):43.
 DANG Xuan-ju,XU Xiao-ping,YU Xiao-ming,et al.Control for PMLSM based on wavelet neural network[J].,2013,(05):43.
[6]陈松林,单梅林,王丽斌. 基于干扰观测器的飞行仿真转台完全跟踪控制[J].电机与控制学报,2015,19(01):113.[doi:10. 15938/j. emc.2015.01.017]
 CHEN Sony-lin,SHAN Mei-linWANG Li-bin. Disturbance observer-based robust perfect trackingcontrol for flight simulator[J].,2015,19(05):113.[doi:10. 15938/j. emc.2015.01.017]
[7]徐媚媚,丁世宏,江浩斌. Boost 变换器的抗扰动复合控制[J].电机与控制学报,2015,19(10):30.[doi:10. 15938 /j. emc. 2015. 10. 005]
 XU Mei-mei,DING Shi-hong,JIANG Hao-bin. Boost converter disturbance resistant composite control [J].,2015,19(05):30.[doi:10. 15938 /j. emc. 2015. 10. 005]

备注/Memo

备注/Memo:
基金项目:国家自然科学基金(50675009)
作者简介: 牛建军(1972-),男,博士研究生,主要研究方向为高精度电液复合转台控制;
              付永领(1966-),男,博士,教授,主要研究方向为新型液压系统及特种机器人;
              刘和松(1983-),男,博士研究生,主要研究方向为多电飞机机电作动器(EMA)。
更新日期/Last Update: 2008-12-12