动态疲劳试验机伺服控制系统的研究

Study on Servo Control System for Dynamic Fatigue Testing Machine

为提高试验机控制系统通信的实时性,本文根据动态试验机的工作原理,对动态试验机的伺服控制系统进行总体设计。控制系统的结构采用上、下位机结合的方案以实现实时通信。首先,设计了下位机的硬件结构,完成试验机的指令传输和执行等功能。然后,设计了下位机的软件结构,该部分主要完成试验结果的局域网络共享以及实现远程操控的功能。在下位机设计的基础上,对上位机软件系统进行了设计。最后,在控制算法方面,为克服传统PID控制调试参数过分依赖经验、闭环带宽有限的弊端,引进了H∞新型鲁棒控制算法。

According to the working principle of dynamic testing machine and aiming at improving the real-time communication speed of testing machine control system, the overall servo control sys- tem for the dynamic fatigue testing machine is designed. The structure of control system is built based on upper and lower computer in order to realize real-time communication. First, the hardware structure of lower computer is designed to complete the transmission and execution of the machine order. Then, the software structure of the lower computer is designed. This part is mainly built to share testing results on local area network and to realize the remote control operation. On the basis of above works, software of upper computer is also introduced. Finally, in the aspect of control algo- rithm, in order to overcome the disadvantages that the traditional PID parameters rely on experience and the closed loop bandwidth is limited, an advanced robust control algorithm-H∞ is introduced.