Design the Control System of Ocean Wave’s Simulation Table Based on Theory of Fuzzy Turning PID
|School||Harbin Institute of Technology|
|Course||Control Science and Engineering|
|Keywords||Wave’s Simulation Table LuGre Friction Model Fuzzy Turning PID Control CPLD|
Simulator is the key equipment in the inertial system examination, with which we display the movement of testing facility. The performance and the development of simulator are very important to the career of national defense. The design and the engineering realization of the control system of three-axis simulation table are introduced in this thesis.Firstly, the source, research purpose and meaning of this topic are introduced. On the basis of referring to lots of related foreign and civil references, the thesis summarizes the successful experience and up-to-date achievement on flight simulators at home and abroad. According to the needs of the project and particularity of the simulation table, the composing, parameters of selected components and basic control scheme of three-axis simulation table are given. The control system uses digital PID control algorithms to realize the third-level control of industrial computer, intelligent servo control card and analog control card. The thesis presented the control system including current-loop, velocity-loop and position-loop, which ensured the good control ability of the system.Secondly, the thesis discussed the work principle and character of brush-less direct current motor, which is the driving equipment of the system. Then the ideal mathematical model of motor is established and the uncertainty of the control system is analyzed. Considering LuGre friction moment disturbances and system parameter perturbations during the control of simulation table, the fuzzy turning PID controller for wave simulation table system are designed. Simulation shows that the controllers based on fuzzy PID overcome the friction moment disturbances and inertia moment perturbations of the simulator system successfully. The corner precision control and dynamic order of the simulator are perfectly realized, so the controller is suitable for robust control of wave simulation table system.Thirdly, the thesis established the realization scheme of the project. It presented detailed hardware realization process and functions of intelligent servo control card, analog control card and communication control card, and programmed related software. The performance of the three-axis simulation table system is tested according to the requests of project. The simulation shows that the performance index is satisfied completely. As the needs of the project, the electric-magnetic compatibility and reliability of the system are analyzed too. Some feasible methods to decrease the electromagnetic interference and enhance the reliability of the whole system are promoted.At last, the thesis includes the movement parameters of plunging, rolling and yawing by operating the real ocean-wave’s simulation table, draws the movement curve, measures and calculates the errors of control system.