基于PWM的直流伺服电机电感匹配计算方法

脉宽调制（PWM）是直流伺服电机驱动的常见方式之一,回路感值匹配是驱动设计的重要内容。以某型光电稳瞄吊仓直流伺服系统为研究对象,结合国内关于PWM驱动直流电机的设计技巧,推导得到了电流纹波的计算公式,并列出了直流伺服电机基于PWM控制时的回路电感设计准则。仿真试验验证了结果的正确性,为同类系统的设计提供了参考依据。     

磁浮车轨耦合系统稳定性分析

车轨耦合振动现象从磁浮列车诞生起,时至今日都没有解释清楚和彻底解决.如何合理的设计车辆和轨道,抑制车轨耦合振动成为磁浮列车系统研究的热点问题.本文建立了简化的车轨耦合系统数学模型,在单铁悬浮系统稳定性条件的基础上,基于奈奎斯特稳定性理论假设了系统相频曲线的变化规则,得到了车轨耦合系统稳定的充分性条件.文末最后证明假设是成立的,计算简化了系统稳定条件式,并以数值计算的方法验证了该稳定性条件的正确性.     

磁悬浮控制系统动态特性研究

悬浮控制系统是磁悬浮列车的一个重要的子系统.在对悬浮系统动态性能的测试中发现,随着控制中比例系数的增加,系统超调量减小,该现象与教科书中所讲述的一般控制系统特性正好相反.文中以单电磁铁悬浮控制系统为研究对象,以教科书中典型系统参数为中间变量,层层深入地剖析了这一现象本质.采用理论分析与数值计算相结合的方法,得到闭环系统增益始终大于1以及积分器的存在,是系统出现随比例系数的增加超调量减小这一现象的根本原因.     

"电工与电路基础"课程中的思政元素探究

本文从爱国主义教育、价值观建立、科学思维培养以及装备应用案例四个方面着手,探究"电工与电路基础"课程中的具有军校特色的思政元素.通过对该课程中思政元素的分析解读,使课堂教学内涵更加深入,注重学员价值观培养的同时,为向部队培养具备科学思维和创新能力的高素质军事人才做好准备.     

Robust tracking control for micro machine tools with load uncertainties

The quality of the micro-mechanical machining outcome depends significantly on the tracking performance of the miniaturized linear motor drive precision stage. The tracking behavior of a direct drive design is prone to uncertainties such as model parameter variations and disturbances. Robust optimal tracking controller design for this kind of precision stages with mass and damping ratio uncertainties was researched. The mass and damping ratio uncertainties were modeled as the structured parametric uncertainty model. An identification method for obtaining the parametric uncertainties was developed by using unbiased least square technique. The instantaneous frequency bandwidth of the external disturbance signals was analyzed by using short time Fourier transform technique. A two loop tracking control strategy that combines the μ-synthesis and the disturbance observer (DOB) techniques was proposed. The μ-synthesis technique was used to design robust optimal controllers based on structured uncertainty models. By complementing the μ controller, the DOB was applied to further improving the disturbance rejection performance. To evaluate the positioning performance of the proposed control strategy, the comparative experiments were conducted on a prototype micro milling machine among four control schemes: the proposed two-loop tracking control, the single loop μ control, the PID control and the PID with DOB control. The disturbance rejection performances, the root mean square (RMS) tracking errors and the performance robustness of different control schemes were studied. The results reveal that the proposed control scheme has the best positioning performance. It reduces the maximal errors caused by disturbance forces such as friction force by 60% and the RMS errors by 63.4% compared with the PID control. Compared to PID with DOB control, it reduces the RMS errors by 29.6%.     

光电稳瞄稳定控制模糊PI算法设计与实现

稳定控制是光电稳瞄伺服控制的核心技术之一.传统经典控制方式存在超调与快速性之间难以调和的矛盾,很难得到理想的动态性能.为此论文建立了稳定控制系统数学模型;融合模糊控制的快速响应和PI控制的稳态无误差设计了参数自整定模糊PI控制器,分析了控制器中各参数的关系,对设计的控制系统进行理论计算和仿真分析;在基于DSP的数字平台上用软件实现设计的控制器;对系统进行了控制性能测试试验.仿真和试验表明设计的新型控制系统实现了无超调和快速响应的目标.     

光电稳定滑模变结构控制系统的设计与仿真

稳定控制是光电稳瞄产品的核心技术之一.经典控制理论超调与快速性之间存在难以调和的矛盾,系统难以得到理想的动态性能.为解决上述问题,首先建立了稳定控制系统数学模型,采用非线性微分信号获取方法,设计了一滑模变结构控制器,计算出滑动模态存在的条件进行了仿真.仿真表明,所采用的微分信号方法性能优良,所设计的控制系统能够同时实现系统无超调和快速响应的目标,并为产品的稳定性控制开发了一种新的控制策略.     

提高光电稳定平台伺服控制刚度的方法

伺服控制是光电稳定平台的关键技术之一.提高控制刚度能够增强隔离载体扰动的效果,但同时可能导致系统不稳定.论文结合理论和试验建立了光电稳定伺服控制系统的简化数学模型,推导出系统控制刚度表达式,指出提高控制刚度的方法;利用劳斯判据求解出系统稳定的解析条件式,描述了稳定性与控制刚度之间的矛盾,并指出陀螺是矛盾关键.论文研究结论得到了仿真和试验验证,对工程实践具有参考价值.     

基于PLC的磁悬浮列车信号监测系统研究

以磁悬浮列车为对象,采用SIEMENS公司的PLC,研究了列车信号监测系统,提出了智能式和非智能式两种方案,并对两种分布式网络、MPI网络和CP340与上位机的通信进行了研究,给出了具体的实现方法。     

Multi-rate tracking controller analysis and design for target tracking systems

As the sampling rates of the inner loop and the outer loop of the target tracking control system are different, a typical digital multi-rate control system was formed. If the traditional single-rate design method was applied, the low sampling rate loop will seriously impact the dynamical characteristic of the system. After analyzing and calculating the impact law of the low sampling rate loop to the bandwidth and the stability of the tracking system, a kind of multi-rate control system design method was introduced. Corresponding to the different sampling rates of the inner loop and the outer loop, the multi-rate control strategy was constituted by a high sampling rate sub-controller and a low sampling rate sub-controller. The two sub-controllers were designed separately and connected by means of the sampling rate converter. The low sampling rate controller determined the response rapidity of the system, while the high sampling rate controller applied additionally effective control outputs to the system during a sampling interval of the low sampling rate controller. With the introduced high and low sampling rates sub-controllers, the tracking control system can achieve the same performance as a single-rate controller with high sampling rate, yet it works under a much lower sampling rate. The simulation and experimental results show the effectiveness of the introduced multi-rate control design method. It reduces the settling time by 5 times and the over shoot by 4 times compared with the PID control.