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武器站伺服传动装置在线辨识与自适应控制方法

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兵工学报 2024年第6期45卷 1761-1775页

作者：谢馨郑杰基李宝宇于滨范大鹏国防科技大学智能科学学院湖南长沙410073

针对武器站俯仰轴伺服传动装置在武器载荷变化时控制精度和安全性下降的问题,提出基于多参数在线辨识的自适应复合控制方法。基于符号函数的线性化方法,构建包含传动间隙、电机和负载摩擦非线性的伺服传动装置待辨识模型框架,推导出待... 详细信息

针对武器站俯仰轴伺服传动装置在武器载荷变化时控制精度和安全性下降的问题,提出基于多参数在线辨识的自适应复合控制方法。基于符号函数的线性化方法,构建包含传动间隙、电机和负载摩擦非线性的伺服传动装置待辨识模型框架,推导出待辨识参数的显式迭代方程,通过带遗忘因子的递推增广最小二乘算法实现参数在线辨识。在此基础上,提出自适应比例积分控制器与自适应状态扩张卡尔曼滤波器相结合的复合控制方法。实验结果表明:参数辨识方法可实现伺服传动装置9个关键动力学参数的精确在线辨识,稳态辨识误差不超过10%。自适应复合控制方法将系统速度跟随残差均方根降低了28.24%,有效提升了俯仰轴在武器载荷变化时的控制精度和稳定裕度。

关键词：武器站伺服传动装置在线辨识自适应控制

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路面不平度对遥控武器站伺服性能的影响分析

中国科学：技术科学 2024年第6期54卷 1137-1148页

作者：谢馨张连超郑杰基李宝宇范大鹏国防科技大学智能科学学院长沙410073

随着车载遥控武器站遂行作战任务的不断增加,对遥控武器站行进间射击精度提出了越来越高的要求,而车辆在行进过程中由不平整路面引入的基座扰动,会给武器火线稳定精度带来极大的影响.针对路面不平度扰动对遥控武器站稳定性能影响机理不... 详细信息

随着车载遥控武器站遂行作战任务的不断增加,对遥控武器站行进间射击精度提出了越来越高的要求,而车辆在行进过程中由不平整路面引入的基座扰动,会给武器火线稳定精度带来极大的影响.针对路面不平度扰动对遥控武器站稳定性能影响机理不明的问题,本文在分析遥控武器站系统组成、工作原理及关键技术指标基础上,建立了包含驱动、传动、控制以及路面不平度随机扰动的遥控武器站系统机电耦合全局动力学模型,分析不同路面等级、不同车速下路面不平度扰动对系统稳定精度的影响,搭建路面不平度随机扰动模拟测试平台,验证理论分析和数值仿真的有效性.仿真和实验结果表明,当车速为18 km/h时,在稳定平台作用下,稳定误差几乎不随路面等级的变化而变化.当车速为36和72 km/h时,随着路面等级提高至E级以上时,系统稳定误差呈近似指数增长,且速度越高,稳定精度恶化得越严重.

关键词：遥控武器站路面不平度机电耦合全局动力学模型稳定精度

电动缸举升机构伺服性能的亚全局并行优化设计

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国防科技大学学报 2024年第5期46卷 65-78页

作者：万子平谢馨任广安郑杰基范大鹏国防科技大学智能科学学院湖南长沙410073

针对电动缸举升伺服机构的非线性环节对武器站伺服性能的影响,基于应用背景开展了伺服性能优化方法的研究。针对可设计非线性环节中的增益波动、间隙宽度、不平衡力矩和摩擦力矩进行了作用机理分析;基于机构布局和控制器参数建立了运动... 详细信息

针对电动缸举升伺服机构的非线性环节对武器站伺服性能的影响,基于应用背景开展了伺服性能优化方法的研究。针对可设计非线性环节中的增益波动、间隙宽度、不平衡力矩和摩擦力矩进行了作用机理分析;基于机构布局和控制器参数建立了运动学、动力学和控制策略的数学模型、设计约束和目标优化函数;提出了亚全局并行优化方法,对可设计非线性环节进行了基于内点法的多目标优化,解决了局部串行优化的局部最优问题;对基于PI控制器+DOB观测器的复合控制策略进行了单独设计,解决了机械惯量参数、控制器参数和观测器名义模型不匹配的问题。经验证,亚全局并行优化方法的优化结果在整体上更佳,且更加贴合工程实际。

关键词：可设计非线性环节机构布局复合控制策略亚全局并行优化方法

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电动缸举升伺服机构运动学误差建模与辨识

兵器装备工程学报 2024年第8期45卷 102-112页

作者：万子平刘小旭任广安范大鹏湖南农业大学机电工程学院长沙410128 湖南宇正智能科技有限公司长沙410008 国防科技大学智能科学学院长沙410073 重庆大学机械与运载工程学院重庆400044

针对电动缸举升伺服机构在大长径比、大惯量和大质量武器站运动学模型精度不高的问题,利用所提误差分离辨识方法对电动缸举升伺服机构的运动学模型进行了高精度建模。在明确了运动学误差来源为零位、几何、间隙和趋势误差的基础上,结合... 详细信息

针对电动缸举升伺服机构在大长径比、大惯量和大质量武器站运动学模型精度不高的问题,利用所提误差分离辨识方法对电动缸举升伺服机构的运动学模型进行了高精度建模。在明确了运动学误差来源为零位、几何、间隙和趋势误差的基础上,结合闭环矢量法与滞环模型建立了包含全项误差理论运动学模型,并定性的总结了每项误差的不同特征。通过提出的基于误差解耦的静、动态误差分离流程,有效的分离出了间隙、零位、几何和趋势误差,并分别利用双传感器法、非线性最小二乘法、傅里叶级数法和小波变换法对间隙、零位、几何和趋势误差进行了有效辨识,定量的分析了每项误差的影响度。结果表明:提出的基于搜索区间的解耦化非线性最小二乘法,在有效的分离出重现误差(几何误差),并定量的明确了几何误差为最大误差来源,将辨识出来的静态误差代入运动学模型,在实验平台的上,将平台的运动学模型精度提高96.6%。该误差分离辨识方法,对电动缸举升伺服机构的高精度运动学建模具有理论参考价值。

关键词：电动缸举升机构误差来源误差建模误差分离误差辨识非线性最小二乘

Double-loop robust tracking control for micro machine tools

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Science China(Technological Sciences) 2011年第11期54卷 3054-3063页

作者： fan ShiXun NAGAMUNE Ryozo fan dapeng College of Mechatronic Engineering and Automation National University of Defense Technology Changsha 410073 China Department of Mechanical Engineering the University of British Columbia Vancouver BC V6TIZ4 Canada

This paper addresses double-loop robust tracking controller design of the miniaturized linear motor drive precision stage with mass and damping ratio uncertainties. As an inner-loop, a disturbance observer （DOB） is employed to suppress exogenous low frequency disturbances such as friction and cutting force. To further eliminate the residual disturbance and to guarantee the robust tracking to the reference input, μ-synthesis outer-loop controller is designed. For eliminating the steady state error, a technique is proposed to design the μ-synthesis outer-loop controller with an integrator. A guideline to select the bandwidth of the Q-filter in the DOB is provided. Simulations using a model of a prototype micro-milling machine indicate that the proposed outer-loop synthesis scheme is superior to the H∞ suboptimal control in disturbance rejection performance and steady state tracking performance. Furthermore, it is shown experimentally that the proposed double-loop robust tracking controller improves the tracking performance of the stage by 29.6% over PID control with a DOB inner-loop.

关键词： micro machine tools robust tracking μ-synthesis disturbance observer

Analysis and control of micro-stepping characteristics of ultrasonic motor

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Frontiers of Mechanical Engineering 2020年第4期15卷 585-599页

作者： Ning CHEN Jieji ZHENG Xianliang JIANG Shixun fan dapeng fan College of Intelligence Science and Technology National University of Defence and TechnologyChangsha 410073China

Micro-stepping motion of ultrasonic motors satisfies biomedical applications, such as cell operation and nuclear magnetic resonance, which require a precise compact-structure non-magnetization positioning device. When the pulse number is relatively small, the stopping characteristics have a non-negligible effect on the entire stepwise process. However, few studies have been conducted to show the rule of the open-loop stepwise motion, especially the shutdown stage. In this study, the modal differences of the shutdown stage are found connected with amplitude and velocity at the turn-off instant. Changes of the length in the contact area and driving zone as well as the input currents, vibration states, output torque, and axial pressure are derived by a simulation model to further explore the rules. The speed curves and vibration results in functions of different pulse numbers are compared, and the stepwise motion can be described by a two-stage two-order transfer function. A test workbench based on the Field Programmable Gate Array is built for acquiring the speed, currents, and feedback voltages of the startup–shutdown stage accurately with the help of its excellent synchronization performances. Therefore, stator vibration, rotor velocity, and terminal displacements under different pulse numbers can be compared. Moreover, the two-stage two-order model is identified on the stepwise speed curves, and the fitness over 85% between the simulation and test verifies the model availability. Finally, with the optimization of the pulse number, the motor achieves 3.3 µrad in clockwise and counterclockwise direction.

关键词： ultrasonic motor stepping characteristics pulse number control synchronous acquisition system precise positioning

High-precision gyro-stabilized control of a gear-driven platform with a floating gear tension device

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Frontiers of Mechanical Engineering 2021年第3期16卷 487-503页

作者： Xianliang JIANG dapeng fan Shixun fan Xin XIE Ning CHEN College of Intelligence Science and Technology National University of Defense TechnologyChangsha 410073China

This study presents an improved compound control algorithm that substantially enhances the antidisturbance performance of a gear-drive gyro-stabilized platform with a floating gear tension *** tension device can provide a self-adjustable preload to eliminate the gap in the meshing ***,the weaker gear support stiffness and more complex meshing friction are also induced by the tension device,which deteriorates the control accuracy and the ability to keep the aim point of the optical sensors isolated from the platform *** modeling and compensation of the induced complex nonlinearities are technically challenging,especially when base motion *** aim of this research is to cope with the unmeasured disturbances as well as the uncertainties caused by the base lateral ***,the structural properties of the gear transmission and the friction-generating mechanism are analyzed,which classify the disturbances into two categories:Time-invariant and time-varying ***,a proportional-integral controller is designed to eliminate the steady-state error caused by the time-invariant disturbance.A proportional multiple-integral-based state augmented Kalman filter is proposed to estimate and compensate for the time-varying disturbance that can be approximated as a polynomial *** effectiveness of the proposed compound algorithm is demonstrated by comparative experiments on a gear-drive pointing system with a floating gear tension device,which shows a maximum 76%improvement in stabilization precision.

关键词： inertially stabilized platform floating gear tension device nonlinear friction disturbance compensation proportional multiple-integral observer

Application in prestiction friction compensation for angular velocity loop of inertially stabilized platforms

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Chinese Journal of Aeronautics 2014年第3期27卷 655-662页

作者： Zhang Zhiyong Li Zhiqiang Zhou Qingkun Zhang Lianchao fan dapeng College of Mechatronic Engineering and Automation National University of Defense Technology

Abstract To overcome the influence of the nonlinear friction on the gimbaled servo-system of an inertial stabilized platforms （ISPs） with DC motor direct-drive, the methods of modeling and compensation of the nonlinear friction are proposed. Firstly, the inapplicability of LuGre model when trying to interpret the backward angular displacement in the prestiction regime is observed experimentally and the reason is deduced theoretically. Then, based on the dynamic model of direct-drive ISPs, a modified LuGre model is proposed to describe the characteristic of the friction in the prestiction regime. Furthermore, the state switch condition of the three friction regimes including presliding, gross sliding and prestiction is presented. Finally, a composite compensation controller including a nonlinear friction observer and a feedforward compensator based on the novel LuGre model is designed to restrain the nonlinear friction and to improve the control precision. Experimental results indicate that compared with those of the conventional proportion-integrationdifferentiation （PID） control method and the PID plus LuGre model-based friction compensation method, the dwell-time has decreased from 0.2 s to almost 0 s, the position error decreased to 86.7% and the peak-to-peak value of position error decreased to 80% after the novel compensation controller is added. It concludes that the composite compensation controller can greatly improve the control precision of the dynamic sealed ISPs.

关键词： Closed loop control systems Friction compensation Inertially stabilized platforms Prestiction Stiction

Mechatronic design of a novel linear compliant positioning stage with large travel range and high out-of-plane payload capacity

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Frontiers of Mechanical Engineering 2017年第2期12卷 265-278页

作者： Hua LIU Xin XIE Ruoyu TAN Lianchao ZHANG dapeng fan College of Mechatronic Engineering and Automation NationalUniversity of Defense Technology Changsha 410073 China

Most of the XY positioning stages proposed in previous studies are mainly designed by considering only a single performance indicator of the stage. As a result, the other performance indicators are relatively weak. In this study, a 2-degree-of-freedom linear compliant positioning stage （LCPS） is developed by mechatronic design to balance the interacting performance indicators and realize the desired positioning stage. The key parameters and the coupling of the structure and actuators are completely considered in the design. The LCPS consists of four voice coil motors （VCMs）, which are conformally designed for compactness, and six spatial leaf spring parallelograms. These parallelograms are serially connected for a large travel range and a high out-of-plane payload capacity. The mechatronic model is established by matrix structural analysis for structural modeling and by Kirchhof^s law for the VCMs. The sensitivities of the key parameters are analyzed, and the design parameters are subsequently determined. The analytical model of the stage is confirmed by experiments. The stage has a travel range of 4.4 mm 7.0 mm and a 0.16% area ratio of workspace to the outer dimension of the stage. The values of these performance indicators are greater than those of any existing stage reported in the literature. The closed-loop bandwidth is 9.5 Hz in both working directions. The stage can track a circular trajectory with a radius of 1.5 mm, with 40 Ixm error and a resolution of lower than 3 ~tm. The results of payload tests indicate that the stage has at least 20 kg out- of-plane payload capacity.

关键词： mechatronic design linear compliant posi-tioning stage large travel range high out-of-plane payload