CN106094881B - The deviation of Vertical Launch platform stance leveling couples synchronisation control means - Google Patents
The deviation of Vertical Launch platform stance leveling couples synchronisation control means Download PDFInfo
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Abstract
The invention discloses a kind of deviations of Vertical Launch platform stance leveling to couple synchronisation control means, and steps are as follows: initially setting up the mathematical model of Vertical Launch platform stance leveling system；Active synchronization posture leveling control method adjusting position by being coupled based on deviation again；Finally carry out the associative simulation of Vertical Launch platform stance leveling system.The present invention is for characteristics such as big unbalance loading, close coupling, strong nonlinearity and parameter time varyings generally existing in multi-cylinder system, propose a kind of coupling synchronisation control means --- deviation coupling control, the method carries out Front feedback control to multi-cylinder synchronous error using error compensator, consider the motion state of itself and other each channels, the coupled relation of each interchannel is effectively handled, to reduce the synchronous error of each subchannel, achieve the purpose that move synchronously.Contrast simulation result verification introduces the validity of the synchronisation control means.
Description
Technical field
The invention belongs to electro-hydraulic servo control technical field, especially a kind of deviation coupling of Vertical Launch platform stance leveling
Close synchronisation control means.
Background technique
As the core force of terrestrial weapon, the advantage that truck-mounted missile has field transmitting, avoids enemy radar scouting, energy
Enough farthest strike enemies and preservation oneself, therefore for guided missile launcher, high maneuverability energy and fast reaction
Performance is then to strive for the key factor of operational time for us.The multi-purpose inclination transmitting of traditional guided missile, there are transmitting blind area, and it is vertical
Transmitting has many advantages, such as that structure is simple, emits without dead angle, is swift in response, far firing range, is widely used.But due to being fought
Environment and equipment performance directly affect, launching tower from emplacing, leveling to removing a series of switching motion of receipts,
Required time gap is larger, this is also the important link for restricting weapon system fight capability.Studies have shown that emitting before MISSILE LAUNCHING
The leveling time of platform accounts for the one third of entire conversion time.Therefore, high efficiency, high-precision and quick leveling technology are researched and developed
To the time before missile armament emits is reduced, quick-reaction capability, precision strike capability and the existence of weapon system are improved
Ability has important theory significance and real value.
With the development of industrial technology, it is aobvious that traditional single executing agency's driving method is depended merely in large-scale, heave-load device movement
It so can no longer meet the requirement of modern project, and hydraulic synchronization driving is because its power density is big, structure is simple and is easy to real
Now the advantages such as automation are gradually widely applied by industrial circle, especially in recent years in heavily loaded platform, large type drill, robot control
The fields such as system and mobile radar, antiaircraft weapon flat pad, the synchronous driving of more hydraulic actuating mechanisms is commonplace, in work
Journey has very big development space in practice, and research significance is great.Classical hydraulic synchronization control method mainly by
Robert.D.Lorenz and Y.Koren is proposed and is grown up, and is broadly divided into following 3 class: equal way, master-slave mode and friendship
Fork coupling control.Raising with aerospace, military radar and heavily loaded promotion field to high-precise synchronization movement needs, warp
Allusion quotation synchronisation control means is encountered by a series of problem, such as with external disturbance, close coupling, parameter time varying and strong non-thread
The system of property, classical synchronisation control means oneself cannot achieve the requirement of high-precise synchronization.With computer and control theory
Development, deviation coupling synchronisation control means come into being.
The principle that deviation couples synchronously control is to be respectively compared certain controlled device in system with other control objects, then
Gained deviation signal is carried out to be added the thermal compensation signal as the control object.This most important improvement of control algolithm is benefit
With the damped coefficient relationship between each system, relative signal is added in feedback signal.Deviation coupling control structure is derived from
Traditional cross-coupling synchronously control, only has made some improvements on its basis, makes it that can overcome cross-coupling control
Some disadvantages, and the characteristics such as cross-coupling control high-precision can be retained.For with external disturbance, close coupling, parameter time varying with
And the system of strong nonlinearity, it can be realized the requirement of high-precise synchronization.
Currently, deviation coupling synchronously control is mainly used in multi-motor synchronous control field, and in the synchronous control of multi-hydraulic-cylinder
The research in field processed is also in a starting stage.Therefore, a reasonable effective hydraulic synchronous system is designed and developed, and is used for reference
Synchronisation control means is coupled in the research achievement in multi-motor synchronous control field, then it is auxiliary in suitable control algolithm to how hydraulic
Cylinder synchronous control system is studied, and is set about in terms of the two from hydraulic system and its control algolithm synchronous to improve multi-hydraulic-cylinder
The net synchronization capability of control system has very big development potentiality, is a brand-new academic project.
Summary of the invention
The object of the present invention is to provide a kind of deviations of Vertical Launch platform stance leveling to couple synchronisation control means, it is intended to
Each axis dynamic characteristic mismatch problem as caused by external interference factor in multiaxial motion system is solved, is explored a kind of effective
Multi-hydraulic-cylinder synchronous control technique keeps the parameter of each interchannel consistent, weakens the influence of model uncertainty, to improve synchronization
Precision.
The technical solution for realizing the aim of the invention is as follows: a kind of deviation coupling synchronization of Vertical Launch platform stance leveling
Control method, comprising the following steps:
Step 1, the mathematical model of Vertical Launch platform stance leveling system is established:
It is specific as follows:
Theoretical according to coordinate transform between coordinate system, the coordinate system of any one non-standard state is by a horizontal coordinates
Between the coordinate system and former horizontal coordinates that successively turn over certain angle using X-axis, Y-axis, Z axis as rotary shaft and obtain, and ultimately generate
Transformation matrix of coordinatesThere is following relational expression:
Wherein, α, β and γ are respectively the inclination angle of flat pad X-axis, Y-axis, Z-direction, RαFor coordinate system OX1Z1To coordinate
It is OX0Z0Two-dimensional coordinate transformation matrix, RβFor coordinate system OY1Z1To coordinate system OY0Z0Two-dimensional coordinate transformation matrix, RγTo sit
Mark system OX1Y1To coordinate system OX0Y0Two-dimensional coordinate transformation matrix；
If each supporting leg is in platform coordinate system OX1Y1Z1In coordinate be1Pi=(1Pix,1Piy,1Piz)T, in horizontal coordinates
OX0Y0Z0In coordinate be0Pi=(0Pix,0Piy,0Piz)T, the center of gravity G of flat pad is in OX1Y1Z1Coordinate in coordinate system is1G
=(1Gx,1Gy,1Gz)T, in OX0Y0Z0Coordinate in coordinate system is0G=(0Gx,0Gy,0Gz)T；
In conjunction with the actual conditions that flat pad levels, formula (5) is reduced to
It is known1G=(Gx,Gy,0)T, coordinate of four supporting legs of flat pad in platform coordinate system be respectively1P1=(0,0,
0)T,1P2=(L, 0,0)T,1P3=(L, H, 0)T,1P4=(0, H, 0)T, wherein L is the length of flat pad, and H is flat pad
It is wide；
ByObtain each point coordinate under horizontal coordinates:
0P1=(0,0,0)T (7)
0P2=(L cos α, 0 ,-L sin α)T (8)
0P3=(L cos α+H sin α sin β, H cos β ,-L sin α+H cos α sin β)T (9)
0P4=(H sin α sin β, H cos β, H cos α sin β)T (10)
0G=(Gx cosα+Gy sinαsinβ,Gy cosβ,-Gx sinα+Gy cosαsinβ)T (11)
That is the mathematical model of Vertical Launch platform stance leveling system.
Step 2, the active synchronization posture leveling control method adjusting position by being coupled based on deviation:
It is specific as follows:
Every supporting leg of the Vertical Launch platform corresponds to an asymmetric servo cylinder；
Step 2-1 judges highest supporting leg
When flat pad is in non-standard state, supporting leg 1 is coordinate origin, and inclination alpha and β's is positive and negative by right-handed helix
Rule determines that wherein α and β respectively corresponds the roll angle and pitch angle of platform；
Step 2-2, computed altitude are poor
Due to platform inclination angle be low-angle, for convenience calculate, approximation have cos α=cos β=1, sin α=α, sin β=
β；ThenIt is simplified to
By
Obtaining coordinate of each supporting point in horizontal coordinates in Z-direction is0Piz
0Piz=-α1Pix+β1Piy (14)
Due to being pre- bearing state, initial tilt α before platform leveling0,β0；Substitution formula (14) obtains a highest support
Point, if highest point i=h,0Piz≤0Phz；Thus the location error e of any time each supporting point is obtainediAre as follows:
ei=0Phz-0Piz=-α0(1Phx-1Pix)+β0(1Phy-1Piy) (15)
1) work as α0<0,β0When > 0,3 highest of original state supporting leg is obtained, supporting leg 1 is minimum, and each supporting point coordinate is substituted into formula
(15):
e1=-α0L+β0H,e2=β0H,e3=0, e4=-α0L (16)
Therefore, the total kilometres D that supporting leg rises are as follows:
The time is leveled by the location error e of minimum supporting leg 11Size determines:
T=e1/ v=(- α0L+β0H)/v (18)
Wherein T is the leveling time, and v is the rate of climb of hydraulic cylinder；
2) work as α0>0,β0When > 0,4 highest of original state supporting leg is obtained, supporting leg 2 is minimum, and each supporting point coordinate is substituted into formula
(15):
e1=β0H,e2=α0L+β0H,e3=α0L,e4=0
Therefore, the total kilometres that supporting leg rises are as follows:
The time is leveled by the location error e of minimum supporting leg 22Size determines:
T=e2/ v=(α0L+β0H)/v
3) work as α0>0,β0When < 0,1 highest of original state supporting leg is obtained, supporting leg 3 is minimum, and each supporting point coordinate is substituted into formula
(15):
e1=0, e2=α0L,e3=α0L-β0H,e4=-β0H
Therefore, the total kilometres that supporting leg rises are as follows:
The time is leveled by the location error e of minimum supporting leg 33Size determines:
T=e3/ v=(α0L-β0H)/v
4) work as α0<0,β0When < 0,2 highest of original state supporting leg is obtained, supporting leg 4 is minimum, and each supporting point coordinate is substituted into formula
(15):
e1=-α0L,e2=0, e3=-β0H,e4=-α0L-β0H
Therefore, the total kilometres that supporting leg rises are as follows:
The time is leveled by the location error e of minimum supporting leg 44Size determines:
T=e4/ v=(- α0L-β0H)/v；
Step 2-3 couples synchronization control algorithm by deviation, obtains better synchronously control performance:
Four supporting legs are divided into four parallel legs, and every branch includes sequentially connected error compensator, adder, control
Device and supporting leg, error compensator include first adder, the first gain compensator, second adder, the second gain compensator and
Third adder, first adder and the series connection of the first gain compensator are the first branch, second adder and the second gain compensation
Device series connection is second branch, is connected after the first branch and second branch are in parallel with third adder, and each hydraulic cylinder is by output bit
Set input signal of the feedback signal as error compensator, the position output of supporting leg n exported respectively with remaining Position of Hydraulic Cylinder into
Row compares, and the difference in each channel is then transmitted to corresponding gain compensator, conduct after being finally added each offset
The error compensating signal of supporting leg n carries out position control to supporting leg n, to realize the coordinate synchronization fortune between supporting leg n and other supporting legs
It is dynamic；Compensating gain K in each channel of error compensatornjThe parameter differences of each interchannel are compensated, to eliminate control
Influence of the parameter difference opposite sex of interchannel to system synchronicity energy；Wherein n, j are supporting leg serial number, and j is not highest supporting leg serial number,
And n, j=1~4, j ≠ n；
Control errors variable ziThe linear combination of position synchronous error between the location error and supporting leg of each supporting leg itself,
I.e.
Step 3, the associative simulation of Vertical Launch platform stance leveling system is carried out:
It is specific as follows:
First according to flat pad actual condition, relevant parameter is determined；It is built in AMESim and Simulink later
It imitates true, the specific steps are as follows:
Step 3-1 models four-point supporting flat pad in AMESim, including platform structure and hydraulic leg
Modeling；
Step 3-2, models leveling method and control algolithm in Simulink, tests in order to facilitate contrast simulation
Card, control algolithm is controlled using classical PID and the PID control based on deviation coupling is emulated；
Step 3-3 carries out AMESim the and Simulink associative simulation of flat pad posture leveling system, obtains platform tune
Flat contrast simulation result.
Compared with prior art, the present invention its remarkable advantage is:
1) present invention from Synchronous motion control angle, imitate by the coupling for each interchannel in multi-hydraulic-cylinder motion process
It answers, the previous classical synchronisation control means using master-slave synchronisation and parallel synchronous has been unable to meet the requirement of high-precise synchronization, therefore
It attempts to introduce deviation coupling control method wherein, the coupled relation of each interchannel is weakened, to obtain the preferable stability of synchronization.
2) deviation coupling belongs to coupling synchronisation control means, and it is in the majority to be used in multi-motor synchronous control field at present, by this
It is also novel place of the invention that method, which is used in practical multi-hydraulic-cylinder synchronization system,.
3) present invention, which incorporates deviation coupling control method in PID control, forms novel PID controller, to overcome tradition
Deficiency of the PID control in the characteristics such as the intrinsic coupling of processing multi-cylinder system, non-linear.
Detailed description of the invention
Fig. 1 is that coordinate system of the invention rotates schematic diagram.
Fig. 2 is flat pad schematic diagram under non-standard state of the invention.
Fig. 3 is that deviation of the invention couples control principle drawing.
Fig. 4 is the first error compensator internal structure of supporting leg 1 of the invention.
Fig. 5 is platform change of pitch angle curve graph of the invention (under classical PID control).
Fig. 6 is each supporting leg displacement changing curve figure of platform of the invention (under classical PID control).
Fig. 7 is platform change of pitch angle curve graph of the invention (under the PID control based on deviation coupling).
Fig. 8 is each supporting leg displacement changing curve figure of platform of the invention (under the PID control based on deviation coupling).
Fig. 9 is flow chart of the method for the present invention.
Figure 10 is flat pad structure chart of the invention.
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawing.
In conjunction with Fig. 1 to Fig. 4 and Fig. 9 and Figure 10, a kind of deviation coupling synchronously control of Vertical Launch platform stance leveling
Method, comprising the following steps:
Step 1, the mathematical model of Vertical Launch platform stance leveling system is established, specific as follows:
If OX0Y0Z0For horizontal coordinates, it remain stationary motionless, OX1Y1Z1For non-horizontal coordinate system, by horizontal coordinates
OX0Y0Z0It is obtained by a series of rotations, rotationally-varying schematic diagram is as shown in Figure 1.The angular direction of regulation rotation herein meets the right hand
Screw rule, i.e. thumb are directed toward the positive direction of rotary shaft, and four finger bending directions are the positive direction of rotation angle.
Theoretical according to coordinate transform between coordinate system, the coordinate system of any one non-standard state is by a horizontal coordinates
Between the coordinate system and former horizontal coordinates that successively turn over certain angle using X-axis, Y-axis, Z axis as rotary shaft and obtain, and ultimately generate
Transformation matrix of coordinatesThere is following relational expression:
Wherein, RαFor coordinate system OX1Z1To coordinate system OX0Z0Two-dimensional coordinate transformation matrix, value is
With X0Axis is transformation matrix of coordinates R when rotary shaft turns over β angleβFor
With Z0R when γ angle is turned over for axisγFor
Corresponding matrix value is substituted into, is obtained
It is assumed that flat pad is in non-standard state at this time, the simplified model of platform is as shown in Fig. 2, platform X-direction is inclined
Angle is α, and Y direction inclination angle is β, OX0Y0Z0For horizontal coordinates, OX1Y1Z1It (is connected firmly with platform) for platform coordinate system.If each
Leg is in platform coordinate system OX1Y1Z1In coordinate be1Pi=(1Pix,1Piy,1Piz)T, in horizontal coordinates OX0Y0Z0In coordinate
For0Pi=(0Pix,0Piy,0Piz)T, the center of gravity G of flat pad is in OX1Y1Z1Coordinate in coordinate system is1G=(1Gx,1Gy,1Gz)T,
In OX0Y0Z0Coordinate in coordinate system is0G=(0Gx,0Gy,0Gz)T。
It is learnt from front, formula (5) is the transformation matrix between non-horizontal coordinate system and horizontal coordinates under normal circumstances, in conjunction with
The actual conditions of flat pad leveling, α and β in matrix respectively correspond the roll angle and pitch angle of platform, and due to four branch
Support leg one end and platform are rigidly connected, and the other end and ground face contact, the translation in XOY plane is almost nil, therefore platform
Rotation angle γ about the z axis is small to ignoring, i.e. sin γ=0, γ=1 cos.Therefore, formula (5) is reduced to
It is known1G=(Gx,Gy,0)T, coordinate of four supporting legs of flat pad in platform coordinate system be respectively1P1=(0,0,
0)T,1P2=(L, 0,0)T,1P3=(L, H, 0)T,1P4=(0, H, 0)T, wherein L is the length of flat pad, and H is flat pad
It is wide；
ByObtain each point coordinate under horizontal coordinates:
0P1=(0,0,0)T (7)
0P2=(L cos α, 0 ,-L sin α)T (8)
0P3=(L cos α+H sin α sin β, H cos β ,-L sin α+H cos α sin β)T (9)
0P4=(H sin α sin β, H cos β, H cos α sin β)T (10)
0G=(Gx cosα+Gy sinαsinβ,Gy cosβ,-Gx sinα+Gy cosαsinβ)T (11)
That is the mathematical model of Vertical Launch platform stance leveling system.
Step 2, specific as follows by the active synchronization posture leveling control method adjusting position coupled based on deviation:
The posture leveling of Vertical Launch platform levels method using " chasing highest point ".Platform is general to locate after supporting in advance
In non-standard state, must there is a highest supporting point at this time, when leveling, keeps highest point motionless, remaining supporting point move upwards with
Dress, it is final concordant with highest point i.e. in horizontality.Specific implementation step is as follows:
Every supporting leg of the Vertical Launch platform corresponds to an asymmetric servo cylinder；
Step 2-1 judges highest supporting leg
Flat pad shown in Fig. 2 is in non-standard state, and supporting leg 1 is coordinate origin, and inclination alpha and β's is positive and negative by the right side
Hand corkscrew rule determines, is illustrated as α<0, β>0,3 highest of supporting leg, supporting leg 1 are minimum at this time；
Step 2-2, computed altitude are poor
Due to platform inclination angle be low-angle, for convenience calculate, approximation have cos α=cos β=1, sin α=α, sin β=
β；ThenIt is simplified to
By
Obtaining coordinate of each supporting point in horizontal coordinates in Z-direction is
0Piz=-α1Pix+β1Piy (14)
Due to being pre- bearing state, initial tilt α before platform leveling0,β0；Substitution formula (14) obtains a highest support
Point, if highest point i=h,0Piz≤0Phz；Thus the location error of any time each supporting point is obtained are as follows:
ei=0Phz-0Piz=-α0(1Phx-1Pix)+β0(1Phy-1Piy) (15)
With α0<0,β0For > 0,3 highest of original state supporting leg is obtained, supporting leg 1 is minimum, and each supporting point coordinate is substituted into above formula
:
e1=-α0L+β0H,e2=β0H,e3=0, e4=-α0L (16)
Therefore, the total kilometres that supporting leg rises are as follows:
The leveling time is determined by the location error size of minimum supporting leg 1:
T=e1/ v=(- α0L+β0H)/v (18)
Wherein T is leveling time (s), and v is the rate of climb (m/s) of hydraulic cylinder.
Other three kinds of situations are as follows:
Work as α0>0,β0When > 0,4 highest of original state supporting leg is obtained, supporting leg 2 is minimum, and each supporting point coordinate is substituted into formula (15)
:
e1=β0H,e2=α0L+β0H,e3=α0L,e4=0
Therefore, the total kilometres that supporting leg rises are as follows:
The time is leveled by the location error e of minimum supporting leg 22Size determines:
T=e2/ v=(α0L+β0H)/v
Work as α0>0,β0When < 0,1 highest of original state supporting leg is obtained, supporting leg 3 is minimum, and each supporting point coordinate is substituted into formula (15)
:
e1=0, e2=α0L,e3=α0L-β0H,e4=-β0H
Therefore, the total kilometres that supporting leg rises are as follows:
The time is leveled by the location error e of minimum supporting leg 33Size determines:
T=e3/ v=(α0L-β0H)/v
Work as α0<0,β0When < 0,2 highest of original state supporting leg is obtained, supporting leg 4 is minimum, and each supporting point coordinate is substituted into formula (15)
:
e1=-α0L,e2=0, e3=-β0H,e4=-α0L-β0H
Therefore, the total kilometres that supporting leg rises are as follows:
The time is leveled by the location error e of minimum supporting leg 44Size determines:
T=e4/ v=(- α0L-β0H)/v。
Step 2-3 couples synchronization control algorithm by deviation, obtains better synchronously control performance:
For multi-hydraulic-cylinder synchronous control system, preferable synchronize surely can be obtained by introducing deviation coupling synchronisation control means
It is qualitative.The core concept of the method is to be compared the output of each subchannel with the output in other channels, resulting inclined
Difference is multiplied by the error compensating signal being added again after corresponding gain coefficient as the channel.Specific control principle is as shown in Figure 3.
For the four-point supporting flat pad that will be discussed (assuming that the i.e. x of 3 highest of supporting legd=x3), the particularity of the control method is to adopt
Front feedback control is carried out to multi-cylinder synchronous error with error compensator, by error compensator by each supporting leg and remaining supporting leg
Synchronous error thermal compensation signal after the poor simultaneously linear combination of position output work of (removing highest supporting leg) as the supporting leg, adds each
The location error of leg itself issues control signal to controller after linear process, so that synchronous error be made to reduce until being
0, it is finally reached the purpose moved synchronously.By taking supporting leg 1 as an example, error compensator internal structure is as shown in Figure 4.
It can be seen from Fig. 4 that error compensator synthesis embodies the operating status of all hydraulic cylinders to be regulated, i.e., each hydraulic cylinder
Using output position feedback signal as the input signal of error compensator, the position output of supporting leg 1 respectively with remaining hydraulic cylinder position
It sets output to be compared, the difference in each channel is then transmitted to corresponding gain compensator, finally by each offset phase
Position control is carried out to supporting leg 1 as the error compensating signal of supporting leg 1 after adding, to realize the association between supporting leg 1 and other supporting legs
Tune moves synchronously.Compensating gain K in each channel of error compensator1jThe parameter differences of each interchannel are compensated, thus
Eliminate influence of the parameter difference opposite sex to system synchronicity energy between control channel；Wherein j is supporting leg serial number, and j is not highest supporting leg
Serial number, and j=2~4, j ≠ 3.
Control errors variable ziThe linear combination of position synchronous error between the location error and supporting leg of each supporting leg itself,
I.e.
Step 3, the associative simulation of Vertical Launch platform stance leveling system is carried out, specific as follows:
According to flat pad actual condition, design parameter is provided that
Initial tilt α0=-0.88 °, β0=1.92 °；Flat pad is having a size of L × H=10605mm × 2800mm.
By α<0, β>0 is learnt, 3 highest of supporting leg, and 2 height of supporting leg, supporting leg 4 times low, and supporting leg 1 is minimum.
By formula (15), the initial position error between each supporting point i and highest point h is respectively as follows: e1=| α0|L+β0H=
254.28mm, e2=β0H=95.20mm, e3=0, e4=| α0| L=159.08mm
Classical PID control: selection pid parameter is kp=220, ki=0, kd=10, the simulation run time is 10s；Based on inclined
The PID control of difference coupling: selection pid parameter is kp=220, ki=0, kd=0, the simulation run time is 5s.
Modeling and simulating process carries out in AMESim and Simulink, the specific steps are as follows:
Step 3-1 models four-point supporting flat pad in AMESim, including platform structure and hydraulic leg
Modeling；
Step 3-2, models leveling method and control algolithm in Simulink, tests in order to facilitate contrast simulation
Card, control algolithm is controlled using classical PID and the PID control based on deviation coupling is emulated；
Step 3-3 carries out AMESim the and Simulink associative simulation of flat pad posture leveling system, obtains platform tune
Flat contrast simulation result.
Fig. 5 and Fig. 6 is flat pad change of pitch angle curve graph and each supporting leg position under classical PID control in Figure of description
Move change curve.It is learnt by figure, the leveling precision of flat pad is ± (0.7 × 10-3) ° i.e. ± 2.52 ", leveling the time be
6.5s。
Fig. 7 and Fig. 8 is flat pad change of pitch angle curve graph under the PID control based on deviation coupling in Figure of description
With each supporting leg displacement changing curve figure.It is learnt by figure, the leveling precision of flat pad is ± (0.3 × 10-4) ° i.e. ± 0.108 ",
The leveling time is 4.5s.
Thus it is clear to, deviation coupling control method is incorporated in PID controller, can be realized the synchronous fortune of multi-hydraulic-cylinder
It is dynamic, leveling precision is improved, the leveling time is reduced.
Claims (2)
1. a kind of deviation of Vertical Launch platform stance leveling couples synchronisation control means, which comprises the following steps:
Step 1, the mathematical model of Vertical Launch platform stance leveling system is established, specific as follows:
It is theoretical according to coordinate transform between coordinate system, the coordinate system of any one non-standard state by a horizontal coordinates successively
Seat between the coordinate system and former horizontal coordinates that turn over certain angle using X-axis, Y-axis, Z axis as rotary shaft and obtain, and ultimately generate
Mark transformation matrixThere is following relational expression:
Wherein, α, β and γ are respectively the inclination angle of flat pad X-axis, Y-axis, Z-direction, RαFor coordinate system OX1Z1To coordinate system
OX0Z0Two-dimensional coordinate transformation matrix, RβFor coordinate system OY1Z1To coordinate system OY0Z0Two-dimensional coordinate transformation matrix, RγFor coordinate
It is OX1Y1To coordinate system OX0Y0Two-dimensional coordinate transformation matrix；
If each supporting leg is in platform coordinate system OX1Y1Z1In coordinate be1Pi=(1Pix,1Piy,1Piz)T, in horizontal coordinates OX0Y0Z0
In coordinate be0Pi=(0Pix,0Piy,0Piz)T, the center of gravity G of flat pad is in OX1Y1Z1Coordinate in coordinate system is1G=(1Gx,1Gy,1Gz)T, in OX0Y0Z0Coordinate in coordinate system is0G=(0Gx,0Gy,0Gz)T；
In conjunction with the actual conditions that flat pad levels, formula (5) is reduced to
It is known1G=(Gx,Gy,0)T, coordinate of four supporting legs of flat pad in platform coordinate system be respectively1P1=(0,0,0)T,1P2=(L, 0,0)T,1P3=(L, H, 0)T,1P4=(0, H, 0)T, wherein L is the length of flat pad, and H is the width of flat pad；
ByObtain each point coordinate under horizontal coordinates:
0P1=(0,0,0)T (7)
0P2=(Lcos α, 0 ,-Lsin α)T (8)
0P3=(Lcos α+Hsin α sin β, Hcos β ,-Lsin α+Hcos α sin β)T (9)
0P4=(Hsin α sin β, Hcos β, Hcos α sin β)T (10)
0G=(Gxcosα+Gysinαsinβ,Gycosβ,-Gxsinα+Gycosαsinβ)T (11)
That is the mathematical model of Vertical Launch platform stance leveling system；
Step 2, specific as follows by the active synchronization posture leveling control method adjusting position coupled based on deviation:
Every supporting leg of the Vertical Launch platform corresponds to an asymmetric servo cylinder；
Step 2-1 judges highest supporting leg
When flat pad is in non-standard state, supporting leg 1 is coordinate origin, and inclination alpha and β's is positive and negative by right-hand rule
Determine, wherein α and β respectively corresponds the roll angle and pitch angle of platform；
Step 2-2, computed altitude are poor
Since platform inclination angle is low-angle, calculate for convenience, approximation has cos α=cos β=1, sin α=α, sin β=β；In
It isIt is simplified to
By
Obtaining coordinate of each supporting point in horizontal coordinates in Z-direction is0Piz
0Piz=-α1Pix+β1Piy (14)
Due to being pre- bearing state, initial tilt α before platform leveling0,β0；Substitution formula (14) obtains a highest supporting point, if
Highest point i=h,0Piz≤0Phz；Thus the location error e of any time each supporting point is obtainediAre as follows:
ei=0Phz-0Piz=-α0(1Phx-1Pix)+β0(1Phy-1Piy) (15)
1) work as α0<0,β0When > 0,3 highest of original state supporting leg is obtained, supporting leg 1 is minimum, and each supporting point coordinate is substituted into formula (15)
:
e1=-α0L+β0H,e2=β0H,e3=0, e4=-α0L (16)
Therefore, the total kilometres D that supporting leg rises are as follows:
The time is leveled by the location error e of minimum supporting leg 11Size determines:
T=e1/ v=(- α0L+β0H)/v (18)
Wherein T is the leveling time, and v is the rate of climb of hydraulic cylinder；
2) work as α0>0,β0When > 0,4 highest of original state supporting leg is obtained, supporting leg 2 is minimum, and each supporting point coordinate is substituted into formula (15)
:
e1=β0H,e2=α0L+β0H,e3=α0L,e4=0
Therefore, the total kilometres that supporting leg rises are as follows:
The time is leveled by the location error e of minimum supporting leg 22Size determines:
T=e2/ v=(α0L+β0H)/v
3) work as α0>0,β0When < 0,1 highest of original state supporting leg is obtained, supporting leg 3 is minimum, and each supporting point coordinate is substituted into formula (15)
:
e1=0, e2=α0L,e3=α0L-β0H,e4=-β0H
Therefore, the total kilometres that supporting leg rises are as follows:
The time is leveled by the location error e of minimum supporting leg 33Size determines:
T=e3/ v=(α0L-β0H)/v
4) work as α0<0,β0When < 0,2 highest of original state supporting leg is obtained, supporting leg 4 is minimum, and each supporting point coordinate is substituted into formula (15)
:
e1=-α0L,e2=0, e3=-β0H,e4=-α0L-β0H
Therefore, the total kilometres that supporting leg rises are as follows:
The time is leveled by the location error e of minimum supporting leg 44Size determines:
T=e4/ v=(- α0L-β0H)/v；
Step 2-3 couples synchronization control algorithm by deviation, obtains better synchronously control performance:
Four supporting legs are divided into four parallel legs, every branch include sequentially connected error compensator, adder, controller and
Supporting leg, error compensator include first adder, the first gain compensator, second adder, the second gain compensator and third
Adder, first adder and the series connection of the first gain compensator are the first branch, second adder and the second gain compensator string
Connection is second branch, is connected after the first branch and second branch parallel connection with third adder, each hydraulic cylinder is anti-by output position
The position output of input signal of the feedback signal as error compensator, supporting leg n is compared with the output of remaining Position of Hydraulic Cylinder respectively
Compared with, the difference in each channel is then transmitted to corresponding gain compensator, finally will each offset be added after be used as supporting leg n
Error compensating signal to supporting leg n carry out position control, thus realize between supporting leg n and other supporting legs coordinate synchronization movement；Accidentally
Compensating gain K in poor each channel of compensatornjThe parameter differences of each interchannel are compensated, thus between eliminating control channel
The parameter difference opposite sex to system synchronicity can influence；Wherein n, j are supporting leg serial number, and j is not highest supporting leg serial number, and n, j
=1~4, j ≠ n；
Control errors variable ziThe linear combination of position synchronous error between the location error and supporting leg of each supporting leg itself, i.e.,
Step 3, the associative simulation of Vertical Launch platform stance leveling system is carried out.
2. the deviation of Vertical Launch platform stance leveling according to claim 1 couples synchronisation control means, feature exists
In, the associative simulation of Vertical Launch platform stance leveling system is carried out described in step 3, specific as follows:
First according to flat pad actual condition, relevant parameter is determined；It is imitative that modeling is carried out in AMESim and Simulink later
Very, the specific steps are as follows:
Step 3-1 models four-point supporting flat pad in AMESim, building including platform structure and hydraulic leg
Mould；
Step 3-2, models leveling method and control algolithm in Simulink, in order to facilitate contrast simulation verifying, control
Algorithm processed is controlled using classical PID and the PID control based on deviation coupling is emulated；
Step 3-3 carries out AMESim the and Simulink associative simulation of flat pad posture leveling system, obtains platform leveling pair
Compare simulation result.
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| CN103950433A (en) * | 2014-03-25 | 2014-07-30 | 北京航天发射技术研究所 | Leveling control system and leveling control method of vehicle-mounted platform |
| CN104935217A (en) * | 2015-05-29 | 2015-09-23 | 天津大学 | Improved deviation coupling control method suitable for multi-motor system |
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| CN103950433A (en) * | 2014-03-25 | 2014-07-30 | 北京航天发射技术研究所 | Leveling control system and leveling control method of vehicle-mounted platform |
| CN104935217A (en) * | 2015-05-29 | 2015-09-23 | 天津大学 | Improved deviation coupling control method suitable for multi-motor system |
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