并联稳定平台电液驱动单元复合内模控制研究

中国机械工程

并联稳定平台电液驱动单元复合内模控制研究

张立杰1,2;王力航1;李少华1;李永泉2,3

1.燕山大学河北省重型机械流体动力传输与控制重点实验室，秦皇岛，066004
2.先进锻压成形技术与科学教育部重点实验室（燕山大学），秦皇岛，066004
3.燕山大学河北省并联机器人与机电系统实验室，秦皇岛，066004

出版日期:2017-03-10 发布日期:2017-03-03
基金资助:
国家自然科学基金资助项目(51405421，51275438);
河北省自然科学基金资助项目(E2015203101)

Study on Composite IMC of an Electro Hydraulic Drive Unit of Parallel Stable Platform

ZHANG Lijie1,2;WANG Lihang1;LI Shaohua1;LI Yongquan2,3#br#

1.Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control,Yanshan University, Qinhuangdao, Hebei,066004
2.Key Laboratory of Advanced Forging & Stamping Technology and Science, Yanshan University, Ministry of Education of China, Qinhuangdao,Hebei,066004
3.Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System,Yanshan University，Qinhuangdao,Hebei,066004

Online:2017-03-10 Published:2017-03-03

摘要/Abstract

摘要： 针对液压驱动舰船稳定平台样机的运动控制要求，提出了一种基于速度前馈结构的复合内模控制方案。以舰船稳定平台的单通道液压驱动单元为研究对象，采用机理建模和参数辨识相结合的方法得到了控制对象的数学模型，在模型的基础上完成了基于速度前馈结构内模复合控制器的设计，并对提出的控制方法进行了仿真和实验研究。仿真和实验研究结果表明：基于速度前馈结构的复合内模控制可以改善系统的跟踪性能，提高系统的抗干扰性和鲁棒性。

关键词: 舰船稳定平台, 液压驱动单元, 速度前馈结构, 复合内模控制

Abstract: According to the requirements of motion control of a hydraulic driven ship stable platform, a composite IMC scheme was proposed based on velocity feed-forward structure. The mathematical model of the control object was obtained by the method of mechanism modeling and parameter identification, which was based on the single channel hydraulic drive unit of the ship stable platform. Simulation and experimental studies of the proposed control method were carried out，and the results show that, with the proposed control method, the tracking performance may be improved, as well as the anti-interference and robustness of the system.

Key words: shipstable platform, hydraulic drive unit, speed-forward structure, composite internal model control(IMC)

中图分类号:

TH137

张立杰, 王力航, 李少华, 李永泉, . 并联稳定平台电液驱动单元复合内模控制研究[J]. 中国机械工程.

ZHANG Lijie, WANG Lihang, LI Shaohua, LI Yongquan, . Study on Composite IMC of an Electro Hydraulic Drive Unit of Parallel Stable Platform[J]. China Mechanical Engineering.

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