Fuzzy tuning Stribeck model and its application on flight motion simulator control
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摘要: 为了实现飞行仿真转台中框阀控马达机构的高精度低速伺服,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 Integral Differential)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;针对系统超低速伺服时速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速伺服.实验结果表明,系统响应以三角波表示的正反向最小稳定速度为0.000006(°)/s时,跟踪误差在95%时间在0.0002°内,并对其他形式信号也有很高的动态跟踪精度.
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关键词:
- 飞行转台 /
- 低速伺服 /
- 摩擦超前补偿 /
- Stribeck模型 /
- 模糊整定
Abstract: New approach combined with friction lead compensation based on Stribeck equivalent control voltage model with its parameters fuzzy tuning and proportion integral differential(PID) control was presented to enhance the control traits of a middle axis driven by servo valve control hydraulic motor for a high precision flight motion simulator. Firstly, Stribeck equivalent control voltage parameters were directly acquired just with available components of simulator itself, thus avoiding model and parameters dependence of conventional feed forward friction compensation. Secondly, fuzzy-setting was designed to obtain the speeding relevant variables of the improved model to avoid the difficulty in ultra-low speed signals acquiring. Lastly, experiments were carried out to verify the merits of the approach. With a stable two-way minimum speed 0.000006(°)/s response represented by a triangle-wave, 95% time the tracking error is within 0.0002°, other servos such as sine tracking are also with high precision.-
Key words:
- flight motion simulator /
- low speed servo /
- friction lead compensation /
- Stribeck model /
- fuzzy tuning
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