三自由度重型摇摆台控制系统设计-控制工程专业论文.docxVIP

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 - - II - Abstract 3-DOF heavy testing table is key hardware equipment in test area in national defense field. It plays a very important role in the development process of modern armored vehicle and ballistic vehicle. To satisfy the load and control requirement, the electro-hydraulic system is adopted to be its servo system. The target of this article is to work out a kind of feasible control method to have the servo system controlled. Firstly, the mathematical models of power amplifier, electro-hydraulic servo valve and hydraulic pressure vat are set up on the basis of fluid dynamics and classical control theory. Then according to the principles of the electro-hydraulic servo system composition, the whole object model is formed. Secondly, the article has a comprehensive analysis to the object model, which includes stability analysis, analysis of amplitude-frequency characteristic of object, through which the object characteristics are roundly known. Finally, a good performance controller is designed to the electro-hydraulic servo system. After analyzing and comparing the differences and disadvantages of the general PID and the general Fuzzy controller, the article integrates both advantages and develops the self-adaptive fuzzy PID controller. The simulations results turn out that this controller can not only satisfy requirement of dynamic response and steady-state, but also can perfectly solve the problems of parameters time-variety and model error, and also do well in adaptability. The article uses Matlab Fuzzy Logic Tool Box and Matlab Simulink Tool Box to realize the fuzzy rules, fuzzy inference, control arithmetic and the simulations. And those programs such as parameter adjustment of PID controller, the arithmetic of fuzzy control and simulation processes, can be applied in scientific research and production in the practice. Keywords 3-DOF testing table; Electro-hydraulic system; Self-adaptive control; Fuzzy PID - -