Simulation turntable self-correction control method based on model parameter accurate identification

Abstract

The invention provides a simulation turntable self-correction control method based on model parameter accurate identification, relates to the simulation turntable self-correction control method based on model parameter accurate identification, and is to solve the defects that an existing open-loop frequency sweep measurement method needs to consume a lot of time, a fixed parameter control method is poor in load change adaptability, and it is likely to have the problem that several sets of control method parameters cannot ensure optimum performance of a system or even cannot ensure system stability. The method comprises the following specific steps: 1) establishing a turntable servo system mechanism model according to a structure of a turntable servo system; 2) measuring a control quantity DA value needed for counteracting Coulomb friction moment Tc, and carrying out compensation on a control input signal of an open-loop transfer function model G(s) of the turntable servo system in the step 1); 3) obtaining accurate parameters taum<^>, taue<^> and K<^>; and 4) obtaining an optimal self-correction control link J(s). The method is used in the field of simulation turntable control.

Description

technical field

[0001] The invention relates to a simulation turntable self-correction control method based on accurate identification of model parameters. Background technique

[0002] In the hardware-in-the-loop simulation and testing of aircraft, the flight simulation turntable is one of the commonly used hardware devices. It can truly reproduce the various attitude movements and kinematic characteristics of the aircraft when it is flying in the air, and provide an accurate motion test benchmark. In order to achieve high-precision and high-dynamic index requirements, most turntables adopt a direct drive working method, which makes the performance of the turntable very sensitive to changes in its parameters, and changes in the structural size or load of the system will cause the controlled object mathematics The model changes. The method of determining the parameters of the mathematical model of the turntable commonly used in engineering is the open-loop frequency sweep m...

Examples

specific Embodiment approach 1

[0027] Specific implementation mode 1: The specific process of a simulation turntable self-calibration control method based on accurate identification of model parameters in this implementation mode is as follows:

[0028] In order to solve the problem that the dynamic performance index of the turntable model cannot be satisfied due to the parameter change, it is necessary to design an offline or online parameter identification method for the turntable model, to identify the changing mathematical model of the controlled object, and use the identification obtained The parameters are adjusted to the original servo control system, so that the system can effectively overcome the impact of load changes.

[0029] Step 1. According to the structure of the turntable servo system ( figure 2 ) to establish the mechanism model of the turntable servo system, including the open-loop transfer function model G(s) and the friction model of the turntable servo system

[0030] Step 2. Measu...

specific Embodiment approach 2

[0034] Specific embodiment two: the difference between this embodiment and specific embodiment one is: in the step one, according to the structure of the turntable servo system ( figure 2 ) to establish the mechanism model of the turntable servo system, including the open-loop transfer function model G(s) and the friction model of the turntable servo system The specific process is:

[0035] The mechanism model of the turntable servo system is:

[0036]

[0037] In the formula, i d ,i q is the direct-axis current and quadrature-axis current in the synchronously rotating d-q coordinate system, d is the direct axis, q is the quadrature axis; ω r is the mechanical angular velocity of the motor; r is the armature resistance of the motor; r'=r+k V k ps k f is the equivalent resistance of the motor, k f is the motor current feedback amplification factor, k ps is the amplification factor of the motor driver, k V is the motor current amplification factor; L is the motor a...

specific Embodiment approach 3

[0054] Specific embodiment 3: The difference between this embodiment and specific embodiment 1 or 2 is that the specific form of the control input signal u of the turntable servo system in the step 1 is:

[0055] System identification requires that the input signal has continuous excitation within the system bandwidth range, so system identification generally uses white noise or M-sequence as the input signal. However, in the turntable system, the drastically changing input signal will lead to a large command acceleration, even exceeding the capability range of the turntable. On the one hand, it will cause the system to enter a saturated state, and on the other hand, it will also have a negative impact on the equipment under test and the turntable itself; If the amplitude of the input signal is small, the non-linear effects such as the friction dead zone will be obvious, which will seriously affect the identification results. Therefore, when selecting the input signal for iden...

technical field

[0001] The invention relates to a simulation turntable self-correction control method based on accurate identification of model parameters. Background technique

[0002] In the hardware-in-the-loop simulation and testing of aircraft, the flight simulation turntable is one of the commonly used hardware devices. It can truly reproduce the various attitude movements and kinematic characteristics of the aircraft when it is flying in the air, and provide an accurate motion test benchmark. In order to achieve high-precision and high-dynamic index requirements, most turntables adopt a direct drive working method, which makes the performance of the turntable very sensitive to changes in its parameters, and changes in the structural size or load of the system will cause the controlled object mathematics The model changes. The method of determining the parameters of the mathematical model of the turntable commonly used in engineering is the open-loop frequency sweep m...

Examples

specific Embodiment approach 1

[0027] Specific implementation mode 1: The specific process of a simulation turntable self-calibration control method based on accurate identification of model parameters in this implementation mode is as follows:

[0028] In order to solve the problem that the dynamic performance index of the turntable model cannot be satisfied due to the parameter change, it is necessary to design an offline or online parameter identification method for the turntable model, to identify the changing mathematical model of the controlled object, and use the identification obtained The parameters are adjusted to the original servo control system, so that the system can effectively overcome the impact of load changes.

[0029] Step 1. According to the structure of the turntable servo system ( figure 2 ) to establish the mechanism model of the turntable servo system, including the open-loop transfer function model G(s) and the friction model of the turntable servo system

[0030] Step 2. Measu...

specific Embodiment approach 2

[0034] Specific embodiment two: the difference between this embodiment and specific embodiment one is: in the step one, according to the structure of the turntable servo system ( figure 2 ) to establish the mechanism model of the turntable servo system, including the open-loop transfer function model G(s) and the friction model of the turntable servo system The specific process is:

[0035] The mechanism model of the turntable servo system is:

[0036]

[0037] In the formula, i d ,i q is the direct-axis current and quadrature-axis current in the synchronously rotating d-q coordinate system, d is the direct axis, q is the quadrature axis; ω r is the mechanical angular velocity of the motor; r is the armature resistance of the motor; r'=r+k V k ps k f is the equivalent resistance of the motor, k f is the motor current feedback amplification factor, k ps is the amplification factor of the motor driver, k V is the motor current amplification factor; L is the motor a...

specific Embodiment approach 3

[0054] Specific embodiment 3: The difference between this embodiment and specific embodiment 1 or 2 is that the specific form of the control input signal u of the turntable servo system in the step 1 is:

[0055] System identification requires that the input signal has continuous excitation within the system bandwidth range, so system identification generally uses white noise or M-sequence as the input signal. However, in the turntable system, the drastically changing input signal will lead to a large command acceleration, even exceeding the capability range of the turntable. On the one hand, it will cause the system to enter a saturated state, and on the other hand, it will also have a negative impact on the equipment under test and the turntable itself; If the amplitude of the input signal is small, the non-linear effects such as the friction dead zone will be obvious, which will seriously affect the identification results. Therefore, when selecting the input signal for iden...

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