基于改进MCS算法的道路模拟机试验系统
|
摘要
通过增加积分环节,提出了改进的自适应最小控制合成算法(MCSI)作为道路模拟机试验系统的伺服控制系统外环,以克服振动台在测试中存在的未知时变参数及时变干扰的影响,以提高振动台位移跟踪精度。通过对单通道道路模拟机试验系统动力机构进行建模,并对PID、MCS和MCSI控制器进行了设计与仿真。仿真结果表明,MCS及MCSI控制器跟踪精度远远高于传统的PID控制器,而改进的MCS跟踪精度又优于MCS,并且具有在线调节参数的优点。基于快速原型的MCS算法,利用Matlab/Simulink建立振动台控制系统模块,在CCS集成开发环境中自动生成代码,然后将可执行代码下载到DSP TMS320C2812和TMS320C6713中,实现了基于MCSI的道路模拟机试验系统设计。
An improved adaptive control methodology based on minimal control synthesis(MCS) for uncertain system with time varying unknown parameters and times-varying disturbances of shaking table during test was presented.The principle of traditional PID and MCS for improving the track accuracy of displacement was analyzed and compared.Minimal control synthesis integral(MCSI) was used as the outer-loop of road simulator test system servo controller.A mathematical model for actuating unit of one channel road simulator test system was built.The three controllers(PID,MCS and MCSI) were simulated.The simulation results showed that the track accuracy of displacement with MCS and MCSI was better than traditional PID,and the track accuracy of MCSI was better than traditional MCS and adaptive MCS and MCSI algorithm had a merit which could online adjust the parameters.In the end,the implementation of a rapid prototyping control system was presented.The Simulink module of road simulator test system was designed by using Matlab/Simulink,The code generated automatically in the CCS integrated development environment.The executable codes were downloaded to the Texas Instruments(TMS320C2812 and TMS320C6713).
An improved adaptive control methodology based on minimal control synthesis(MCS) for uncertain system with time varying unknown parameters and times-varying disturbances of shaking table during test was presented.The principle of traditional PID and MCS for improving the track accuracy of displacement was analyzed and compared.Minimal control synthesis integral(MCSI) was used as the outer-loop of road simulator test system servo controller.A mathematical model for actuating unit of one channel road simulator test system was built.The three controllers(PID,MCS and MCSI) were simulated.The simulation results showed that the track accuracy of displacement with MCS and MCSI was better than traditional PID,and the track accuracy of MCSI was better than traditional MCS and adaptive MCS and MCSI algorithm had a merit which could online adjust the parameters.In the end,the implementation of a rapid prototyping control system was presented.The Simulink module of road simulator test system was designed by using Matlab/Simulink,The code generated automatically in the CCS integrated development environment.The executable codes were downloaded to the Texas Instruments(TMS320C2812 and TMS320C6713).
引文
1延皓.基于液压六自由度平台的空间对接半物理仿真系统研究[D].哈尔滨:哈尔滨工业大学,2006.Yan Hao.Research on hybrid simulation system of space docking based on 6-DOF platform driven by hydraulic actuators[D].Harbin:Harbin Institute of Technology,2006.(in Chinese)
2关广丰.六自由度液压振动试验系统控制策略研究[D].哈尔滨:哈尔滨工业大学,2007.Guan Guangfeng.Research on control strategy of 6-DOF hydraulic vibration[D].Harbin:Harbin Institute of Technology,2007.(in Chinese)
3 Benchoubane H,Stoten D P.The decentralized minimal controller synthesis algorithm[J].Int.J.Control,1992,56(4):967～983.
4 Stoten D P,Benchoubane H.Empirical studies of an MRAC algorithm with minimal controller synthesis algorithm[J].Int.J.Control,1990,51(4):823～849.
5 Stoten D P.Implementation of MCS on a servo hydraulic testing machine[J].Proc.IMech E,Part A:Journal of Systems andControl Engineering,1992,206(13):189～194.
6 Stoten D P,Gómez E G.Adaptive control of shaking tables using the minimal controller synthesis algorithm[J].Phil.Trans.R.Soc.A,2001,359:1 697～1 723.
7 Stoten D P,Benchoubane H.Robustness of a minimal controller synthesis algorithm[J].Int.J.Control,1990,51(4):851～861.
8 Eduardo G Gómez.Application of the MCS algorithm to the control system of the Bristol shaking table[D].Bristol,UK:University of Bristol,1999.
9 Stoten D P,Benchoubane H.The minimal control synthesis identification algorithm[J].Int.J.Control,1993,58(3):685～696.
10 Shen G,Lv G M,Ye Z M,et al.Implementation of electrohydraulic shaking table controllers with a combined adaptiveinverse control and minimal control synthesis algorithm[J].IET Control Theory&Applications,2011,13(5):1 471～1 483.
11韩俊伟.三向六自由度大型地震模拟振动台的研制[D].哈尔滨:哈尔滨工业大学,1996.Han Junwei.The study on 3-dimension 6-DOF large scale seismic simulating apparatus[D].Harbin:Harbin Institute ofTechnology,1996.(in Chinese)
12沈刚,黄其涛,韩俊伟,等.基于DSP快速原型控制的道路模拟振动台控制系统设计[J].农业机械学报,2009,40(6):109～116.Shen Gang,Huang Qitao,Han Junwei,et al.Application of cascade control system in starch production-line based on rapidprototyping of DSP[J].Transactions of the Chinese Society for Agricultural Machinery,2009,40(6):109～116.(inChinese)
13李洪人.电液控制系统[M].北京:国防工业出版社,1990.
14 Moon Ho Kang,Yoon Chang Park.A real-time control platform for rapid prototyping of induction motor vector control[J].Electrical Engineering,2006,88(6):473～483.
15 Darko Hercog,Milan Curkovic,Karel Jezernik.DSP based rapid control prototyping system for engineering education andresearch[C]∥Proceedings of the 2006 IEEE Conference on Computer Aided Control Systems Design Munich,2006:2 292～2 297.
16 Shen Gang,Cong Dacheng,He Jingfeng,et al.Research on three-axis six-DOF shaking table based on rapid prototyping ofDSP algorithms using SIMULINK[C]∥The 2nd International Symposium on System and Control in Aeronautics andAstronautics,Shenzhen,2008.
17 Karabetsos S H,Stavrou P D,Pikasis E K,et al.Design and implementation of an OFDM transceiver framework usingMatlab and the TMS320C6713 DSK[C]∥EUROCON 2005 International Conference on Computer as a Tool,2005,1:554～
2关广丰.六自由度液压振动试验系统控制策略研究[D].哈尔滨:哈尔滨工业大学,2007.Guan Guangfeng.Research on control strategy of 6-DOF hydraulic vibration[D].Harbin:Harbin Institute of Technology,2007.(in Chinese)
3 Benchoubane H,Stoten D P.The decentralized minimal controller synthesis algorithm[J].Int.J.Control,1992,56(4):967～983.
4 Stoten D P,Benchoubane H.Empirical studies of an MRAC algorithm with minimal controller synthesis algorithm[J].Int.J.Control,1990,51(4):823～849.
5 Stoten D P.Implementation of MCS on a servo hydraulic testing machine[J].Proc.IMech E,Part A:Journal of Systems andControl Engineering,1992,206(13):189～194.
6 Stoten D P,Gómez E G.Adaptive control of shaking tables using the minimal controller synthesis algorithm[J].Phil.Trans.R.Soc.A,2001,359:1 697～1 723.
7 Stoten D P,Benchoubane H.Robustness of a minimal controller synthesis algorithm[J].Int.J.Control,1990,51(4):851～861.
8 Eduardo G Gómez.Application of the MCS algorithm to the control system of the Bristol shaking table[D].Bristol,UK:University of Bristol,1999.
9 Stoten D P,Benchoubane H.The minimal control synthesis identification algorithm[J].Int.J.Control,1993,58(3):685～696.
10 Shen G,Lv G M,Ye Z M,et al.Implementation of electrohydraulic shaking table controllers with a combined adaptiveinverse control and minimal control synthesis algorithm[J].IET Control Theory&Applications,2011,13(5):1 471～1 483.
11韩俊伟.三向六自由度大型地震模拟振动台的研制[D].哈尔滨:哈尔滨工业大学,1996.Han Junwei.The study on 3-dimension 6-DOF large scale seismic simulating apparatus[D].Harbin:Harbin Institute ofTechnology,1996.(in Chinese)
12沈刚,黄其涛,韩俊伟,等.基于DSP快速原型控制的道路模拟振动台控制系统设计[J].农业机械学报,2009,40(6):109～116.Shen Gang,Huang Qitao,Han Junwei,et al.Application of cascade control system in starch production-line based on rapidprototyping of DSP[J].Transactions of the Chinese Society for Agricultural Machinery,2009,40(6):109～116.(inChinese)
13李洪人.电液控制系统[M].北京:国防工业出版社,1990.
14 Moon Ho Kang,Yoon Chang Park.A real-time control platform for rapid prototyping of induction motor vector control[J].Electrical Engineering,2006,88(6):473～483.
15 Darko Hercog,Milan Curkovic,Karel Jezernik.DSP based rapid control prototyping system for engineering education andresearch[C]∥Proceedings of the 2006 IEEE Conference on Computer Aided Control Systems Design Munich,2006:2 292～2 297.
16 Shen Gang,Cong Dacheng,He Jingfeng,et al.Research on three-axis six-DOF shaking table based on rapid prototyping ofDSP algorithms using SIMULINK[C]∥The 2nd International Symposium on System and Control in Aeronautics andAstronautics,Shenzhen,2008.
17 Karabetsos S H,Stavrou P D,Pikasis E K,et al.Design and implementation of an OFDM transceiver framework usingMatlab and the TMS320C6713 DSK[C]∥EUROCON 2005 International Conference on Computer as a Tool,2005,1:554～
版权所有：© 2023 中国地质图书馆 中国地质调查局地学文献中心