Stribeck模型模糊整定及其在转台控制中的应用.pdfVIP

2009 6 June 2009 35 6 Journal of Beijing Univers ity of Aeronautics and Astronautics Vo.l 35 No6 Str ibeck 付永领 牛建军 王 岩 ( , 100191) : 为了实现飞行仿真转台中框阀控马达机构的高精度低 伺服, 提出了模糊整 定 Stribeck摩擦模型状态参数的等效控制电压超前补偿和 PID ( Proportion IntegralD ifferential) 相结合的控制策略. 为了规避常规摩擦前向补偿对系统模型及参数的依赖性, 提出利用转台中 框本身的控制环节直接测定用于摩擦超前补偿的 Stribeck 电压模型参数; 针对系统超低 伺 服时 度信号难以检测的特点, 设计了模糊整定系统用于改进模型运行状态参数的整定; 将设 计好的控制器用于中框低 伺服. 实验结果表明, 系统响应以三角波表示的正反向最小稳定 度为 0. 000006( ) /s时, 跟踪误差在 95% 时间在 0. 000 2 内, 并对其他形式信号也有很高的 动态跟踪精度. : 飞行转台; 低 伺服; 摩擦超前补偿; Stribeck模型; 模糊整定 + : TP 273 . 2 : A : 2009) Fuzzy tun ing Stribeck m odel and its app lication on flight m otion sim u lator con trol Fu Yongling N iu Jianjun W ang Y an ( School of Autom ation Science and ElectricalEngineering, Beijing University ofA eronautics andA stronautics, Beijing 100191, China) Abstract: New approach combined w ith friction lead compensation based on Stribeck equ ivalent control voltagemodelw ith its param eters fuzzy tun ing and proportion integral d ifferential( PID) controlw as presented to enhance the control traits of a m iddle axis driven by servo valve control hydraulicmotor for a h igh precision flightmotion smi u lator. F irstly, Stribeck equ ivalent control voltage param etersw ere d irectly acquired justw ith available components of smi u lator itself, thus avoid ing model and param eters dependence of conventional feed forw ard friction compensation. Secondly, fuzzysettingw as designed to obtain the speed ing relevant variables of the mi proved model to avoid the d ifficu lty in u ltralow speed signals acquiring. Lastly, expermi entsw ere car