高精确度飞行仿真转台内框控制摩擦补偿研究

Inner axis control with friction compensation for high precision flight motion simulator

为了实现高精确度飞行仿真转台直流力矩电机驱动内框的低速伺服目标,提出了在输入前馈和闭环PID控制的复合控制基础上构建Stribeck摩擦模型的等效控制电压模型进行摩擦超前补偿策略。首先针对转台内框伺服特性分析设计了复合控制策略;其次针对常规基于Stribeck模型摩擦补偿方法的不足和实验法辨识模型参数难的特点,提出利用转台内框本身的部件直接测定摩擦超前补偿的控制电压模型,并给出了3个关键参数的测定办法;最后将设计好的控制器用于内框低速伺服。实验结果表明,系统响应幅值为0.03,°频率为0.000 5 Hz三角波时跟踪误差在95%时间内在0.000 1°内,并对其他形式信号也有很高的动态跟踪精确度,从而证明在以非线性摩擦为主的扰动条件下所设计的控制策略能实现内框高品质低速伺服。

A new approach combined advance equivalent control voltage fiction compensation upon Stribeck mode with compound control based on input feed-forward and close loop PID control was presented to enhance the low speed servo performance for DC torque motor driven inner axis of a high precision flight motion simulator. Firstly, compound controller was designed to meet the requirements from the in- ner axis low speed servo analysis. Secondly, equivalent control voltage Stribeck model was established with its parameters directly acquired just with the available components of simulator itself, thus avoiding the shortcoming of conventional Stribeck model based method and the difficulty in determining parameter values for the model, and the ways how to access three key parameters were specified. Lastly, experi- ments were carried out to verify the approach on the inner axis servo control, with a triangle wave tracking with amplitude of 0.03 ^o and frequency of 0. 000 5 Hz, 95 % time the tracking error is within 0. 000 1 ^o, tracking of other signals was also with high precision. The results show the scheme can accomplish sound low speed servo for the plant under the nonlinear friction leading disturbances.