北京航空航天大学学报 ›› 2009, Vol. 35 ›› Issue (6): 701-704.

• 论文 • 上一篇    下一篇

Stribeck模型模糊整定及其在转台控制中的应用

付永领, 牛建军, 王 岩   

  1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100191
  • 收稿日期:2008-05-05 出版日期:2009-06-30 发布日期:2010-09-16
  • 作者简介:付永领(1966-),男,河北迁西人,教授,fuyongling@yahoo.com.cn.

Fuzzy tuning Stribeck model and its application on flight motion simulator control

Fu Yongling, Niu Jianjun, Wang Yan   

  1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2008-05-05 Online:2009-06-30 Published:2010-09-16

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0.000006(°)/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.

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 0.000006(°)/s response represented by a triangle-wave, 95% time the tracking error is within 0.0002°, other servos such as sine tracking are also with high precision.

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