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为了实现飞行仿真转台中框阀控马达机构的高精度低速伺服,提出了模糊整定Stribeck摩擦模型状态参数的等效控制电压超前补偿和PID(Proportion Integral Differential)相结合的控制策略.为了规避常规摩擦前向补偿对系统模型及参数的依赖性,提出利用转台中框本身的控制环节直接测定用于摩擦超前补偿的Stribeck电压模型参数;针对系统超低速伺服时速度信号难以检测的特点,设计了模糊整定系统用于改进模型运行状态参数的整定;将设计好的控制器用于中框低速伺服.实验结果表明,系统响应以三角波表示的正反向最小稳定速度为0.000006(°)/s时,跟踪误差在95%时间在0.0002°内,并对其他形式信号也有很高的动态跟踪精度.
In order to realize the high precision and low speed servo of the valve controlled motor in the flight simulation turntable, a control strategy based on the equivalent control voltage advance compensation and PID (Proportion Integral Differential) of the fuzzy state parameter of the Stribeck friction model is proposed.In order to avoid the conventional friction It is proposed to directly measure the Stribeck voltage model parameters for the friction lead compensation by using the control of the middle frame of the turntable. In view of the difficulty of detecting the velocity signal in the ultra-low speed servo system of the system, a fuzzy The tuning system is used to improve the tuning of the operating parameters of the model, and the controller is designed for the low-speed servo in the middle frame.Experimental results show that when the system response to the triangular wave shows the minimum steady-state speed of 0.000006 (°) / s, The error is within 0.0002 ° at 95% of the time and also has high dynamic tracking accuracy for other forms of signal.