本文選題：多軸電液振動臺　切入點：時域波形復(fù)現(xiàn)　出處：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：多軸電液振動臺作為一種基礎(chǔ)的力學(xué)環(huán)境模擬實驗設(shè)備,通過復(fù)現(xiàn)期望的加速度波形,從而在實驗室中模擬真實的振動環(huán)境,進而研究試件的疲勞壽命和可靠性,被廣泛應(yīng)用于土木、交通、軍工、航空航天和精密儀器等行業(yè)。在工程技術(shù)領(lǐng)域,提高這種設(shè)備的時域波形復(fù)現(xiàn)精度成為研究的熱點。自適應(yīng)逆控制作為一種先進的控制策略,被認為是多軸電液振動臺控制領(lǐng)域的發(fā)展方向。本文在哈爾濱工業(yè)大學(xué)電液伺服仿真與試驗系統(tǒng)研究所承擔的國家自然科學(xué)基金資助項目“超冗余長行程并聯(lián)驅(qū)動地震模擬臺內(nèi)力耦合機理及其抑制方法研究”(51205077)支持下,對基于自適應(yīng)逆控制的多軸電液振動臺控制策略進行深入研究。本文首先研究多軸電液振動臺的伺服控制系統(tǒng),其組成以三狀態(tài)控制策略為核心,結(jié)合自由度獨立控制器和壓力鎮(zhèn)定控制器;在考慮液壓執(zhí)行機構(gòu)流量非線性的基礎(chǔ)上建模并推導(dǎo)三狀態(tài)控制策略的參數(shù)整定規(guī)則。仿真結(jié)果驗證了這種振動控制系統(tǒng)可以拓展振動臺加速度閉環(huán)傳函的頻寬并提高系統(tǒng)穩(wěn)定性。但這種伺服控制系統(tǒng)存在時域波形復(fù)現(xiàn)精度不高和參數(shù)整定復(fù)雜繁瑣的缺陷。在前述伺服控制系統(tǒng)的基礎(chǔ)上,本文采用了基于自適應(yīng)逆控制的振動控制策略以提高時域波形復(fù)現(xiàn)的精度。本文首先分析自適應(yīng)逆控制的組成及其核心——自適應(yīng)濾波算法;從離線和在線兩個方面給出了自適應(yīng)逆控制在工程中應(yīng)用的形式,并歸納應(yīng)用時的技術(shù)難點。針對該算法時域傳函辨識環(huán)節(jié)中存在的最優(yōu)階數(shù)確定難題,本文采用一種變階數(shù)NLMS自適應(yīng)濾波算法離線辨識最優(yōu)階數(shù)。針對離線自適應(yīng)逆控制受傳函辨識精度限制存在較大誤差的問題,本文采用基于BP神經(jīng)網(wǎng)絡(luò)的自適應(yīng)濾波算法進行改進。仿真分析驗證了該算法以及提出的改進措施可以有效地提高時域波形復(fù)現(xiàn)的精度�；谌隣顟B(tài)控制策略的伺服控制系統(tǒng),采用三狀態(tài)前饋補償振動臺位置閉環(huán)傳函的傳遞特性,補償效果不佳且參數(shù)整定復(fù)雜。本文基于離線自適應(yīng)逆控制算法設(shè)計電液振動臺位置閉環(huán)逆?zhèn)骱源嫒隣顟B(tài)前饋。這種改進的三狀態(tài)控制策略不僅減少了一半待整定參數(shù),而且優(yōu)化了系統(tǒng)的傳遞特性。在該策略的基礎(chǔ)上,本文結(jié)合X-濾波在線自適應(yīng)逆控制提出一種綜合自適應(yīng)逆控制策略,既有較少的待整定參數(shù),又進一步提高了時域波形復(fù)現(xiàn)的精度。仿真結(jié)果證明了本文研究工作的有效性。本文在多軸電液振動臺上通過實驗與分析比較驗證了研究工作的先進性。
[Abstract]:As a basic mechanical environment simulation experimental equipment, the multi-axis electro-hydraulic shaking table simulates the real vibration environment in the laboratory by reproducing the desired acceleration waveform, and then studies the fatigue life and reliability of the specimen.Widely used in civil engineering, transportation, military industry, aerospace and precision instruments and other industries.In the field of engineering technology, improving the accuracy of time-domain waveform reproduction of this equipment has become a hot spot.As an advanced control strategy, adaptive inverse control is considered as the development direction of multi-axis electro-hydraulic shaking table control field.This paper is supported by the Research Institute of Electro-hydraulic Servo Simulation and Test system of Harbin University of Technology (Harbin University of Technology), which is supported by the National Natural Science Foundation of China, "study on the Mechanism of Internal Force Coupling and its suppression method of Ultra-redundant parallel driving Seismic Simulation Station" 51205077.The control strategy of multi-axis electro-hydraulic shaking table based on adaptive inverse control is studied.In this paper, the servo control system of the multi-axis electro-hydraulic vibration table is studied. The three-state control strategy is the core of the servo control system, which combines the independent controller with the degree of freedom and the pressure stabilization controller.On the basis of considering the nonlinear flow of hydraulic actuator, the parameter tuning rules of three state control strategy are deduced.The simulation results show that the vibration control system can extend the frequency width of the closed-loop function of vibration table acceleration and improve the stability of the system.However, this servo control system has some shortcomings such as low precision of waveform reproduction in time domain and complicated parameter tuning.On the basis of the servo control system mentioned above, the vibration control strategy based on adaptive inverse control is adopted to improve the precision of waveform reproduction in time domain.In this paper, the composition of adaptive inverse control and its kernel, adaptive filtering algorithm, are analyzed firstly, the application forms of adaptive inverse control in engineering are presented from both offline and online aspects, and the technical difficulties in application are summarized.In order to solve the problem of determining the optimal order in the identification of time-domain function, a variable order NLMS adaptive filtering algorithm is used to identify the optimal order off-line in this paper.In order to solve the problem that the accuracy of off-line adaptive inverse control is limited by the function identification, the adaptive filtering algorithm based on BP neural network is improved in this paper.The simulation results show that the proposed algorithm and the improved measures can effectively improve the accuracy of time domain waveform reproduction.The servo control system based on three-state control strategy uses three-state feedforward compensation to compensate the transfer characteristic of the position closed-loop function of the shaking table. The compensation effect is not good and the parameter tuning is complex.In this paper, an off-line adaptive inverse control algorithm is used to design a closed-loop inverse function for the position of an electro-hydraulic shaking table instead of a three-state feedforward.The improved three-state control strategy not only reduces the parameters to be adjusted by half, but also optimizes the transfer characteristics of the system.On the basis of this strategy, an integrated adaptive inverse control strategy based on X- filtering online adaptive inverse control is proposed, which not only has less parameters to be adjusted, but also improves the precision of waveform reproduction in time domain.The simulation results show the effectiveness of the research work in this paper.In this paper, the advanced nature of the research is verified by experiment and analysis on the multi-axis electrohydraulic vibration table.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TB53;TP273

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