WO2022183468A1 - Control method for turntable with six-degrees-of-freedom adjustment - Google Patents
Control method for turntable with six-degrees-of-freedom adjustment Download PDFInfo
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- WO2022183468A1 WO2022183468A1 PCT/CN2021/079242 CN2021079242W WO2022183468A1 WO 2022183468 A1 WO2022183468 A1 WO 2022183468A1 CN 2021079242 W CN2021079242 W CN 2021079242W WO 2022183468 A1 WO2022183468 A1 WO 2022183468A1
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- the invention relates to the technical field of system identification, and more particularly, to a control method for adjusting a turntable with six degrees of freedom.
- the main process of the existing traditional system identification technology is: design identification experiments according to the identification purpose and prior knowledge of the system, after acquiring the input/output data, preprocess the data, and then determine the model according to the prior knowledge and identification purpose. Structure, use mathematical methods for parameter estimation, and establish the transfer function model of the system.
- the difficulty of traditional identification methods lies in: due to the complexity of the system itself and the high requirements for control accuracy, one of the core steps in the identification process is the routine determination of the model structure.
- the effect of the method is not ideal, and it is difficult to accurately specify the model structure of the system, which affects the subsequent system identification and the work of designing the controller based on the transfer function model.
- the purpose of the present invention is to provide a control method for a six-degree-of-freedom adjustment turntable, which can realize precise control of the six-degree-of-freedom adjustment turntable.
- a control method for a six-degree-of-freedom adjustment turntable is applied to a six-degree-of-freedom adjustment turntable, wherein the six-degree-of-freedom adjustment turntable includes a turntable, a voice coil motor and a motor controller, and the control method includes:
- the mechanical transfer function model is a transfer function model containing parameters
- the electrical transfer function model is a transfer function model containing parameters
- obtaining different inputs in the N groups of frequency response data under different inputs includes: different frequencies or different magnitudes of applied forces.
- the selected frequency response data is systematically identified by the auxiliary variable method, and several transfer function models are established. gather.
- a preferred transfer function model is selected from the set of the first transfer function models and the target order and target zeros are determined, including:
- the order of the preferred transfer function model is obtained as the target order, and the zero point number of the preferred transfer function model is taken as the target zero point number.
- a preferred transfer function model is selected from the set of the second transfer function models as the mechanical transfer function model, including:
- the functional model is the mechanical transfer function model.
- setting the preset order and preset zero points of the electrical part includes:
- the transfer function model of the electrical part is determined according to the type of the electrical part, and the order corresponding to the transfer function model of the electrical part is obtained as the preset order, and the corresponding zero point number is used as the preset zero point number.
- Transfer function model as an electrical transfer function model; includes:
- the functional model is the electrical transfer function model.
- the output current of the motor controller is controlled according to the overall transfer function model, and the motor controller is controlled to output the output current to the voice coil motor, so as to control the operation of the turntable.
- the invention reasonably divides a complex mechanical-electrical system into a mechanical part and an electrical part, and establishes a transfer function model by means of frequency response analysis for the mechanical part, which reduces the difficulty of determining the structure of the complex system model in the system identification method; Systems with complex structures and difficult input/output data measurement provide a proven solution.
- FIG. 1 is a flowchart of a control method for a six-degree-of-freedom adjustment turntable provided by the present invention
- Fig. 2 is the flow chart of the specific embodiment provided by the present invention.
- FIG. 3 is a schematic diagram of a six-degree-of-freedom adjustment turntable provided by the present invention.
- Fig. 4 is the front view of the motor control system of the six-degree-of-freedom turntable
- Fig. 5 is the top view of the motor control system of the six-degree-of-freedom turntable
- FIG. 6 is a left side view of the motor control system of the six-degree-of-freedom turntable.
- the core of the present invention is to provide a control method for adjusting the turntable with six degrees of freedom, which can realize precise control of the adjusting turntable with six degrees of freedom, and has good control effect.
- FIG. 1 is a flowchart of a control method for a six-degree-of-freedom adjustment turntable provided by the present invention
- FIG. 2 is a flowchart of a specific embodiment provided by the present invention
- Figure 4 is a front view of the motor control system of the six degrees of freedom turntable
- Figure 5 is a top view of the motor control system of the six degrees of freedom turntable
- Figure 6 is the motor control system of the six degrees of freedom turntable. Left view.
- a control method for a six-degree-of-freedom adjustment turntable provided by the present application is applied to a six-degree-of-freedom adjustment turntable.
- the six-degree-of-freedom adjustment turntable includes a turntable, a voice coil motor and a motor controller, and the control method includes the following steps:
- Step S1 dividing the six-degree-of-freedom adjustment turntable into a mechanical part and an electrical part;
- Step S2 perform harmonic response analysis on the mechanical part to obtain N groups of frequency response data under different inputs, perform systematic identification on a group of frequency response data, and establish a set of first transfer function models with different order-zero number combinations , select the preferred transfer function model from the set of the first transfer function model and use its order as the target order and zeros as the target zeros;
- Step S3 perform systematic identification on N groups of frequency response data, establish a set of second transfer function models of target order and target zero points, and select a preferred transfer function model from the set of second transfer function models as the mechanical transfer function model. ;
- Step S4 setting the preset order and preset zero points of the electrical part, performing system identification on multiple groups of preset signals, and establishing a set of third transfer function models of preset order and preset zero points, from the third Select the preferred transfer function model from the set of transfer function models as the electrical transfer function model;
- Step S5 obtain an overall transfer function model according to the mechanical transfer function model and the electrical transfer function model, control the control parameters of the motor controller according to the overall transfer function model, and control the motor controller to control the work of the turntable according to the control parameters.
- FIGS. 4 to 6 For the schematic diagrams of the six-degree-of-freedom adjustment turntable, please refer to FIGS. 4 to 6 , wherein, the lower part of the turntable 1 is provided with support and adjustment legs, which form six directions of support and adjustment for the turntable 1.
- the support forces are F 1 , F 2 , F 3 , F 4 , F 5 and F 6 .
- support and adjustment legs can be adjusted respectively to change the space state of the turntable.
- the above-mentioned support and adjustment legs are respectively connected to the voice coil motor.
- the above-mentioned connection structures such as the turntable are the mechanical parts of the six-degree-of-freedom adjustment turntable. Degree of freedom adjusts the electrical part of the turntable.
- Dividing the whole into a mechanical part and an electrical part in step S1 does not mean dividing the entity, but means analyzing and investigating the two respectively.
- the mechanical part can be modeled to obtain a mechanical model
- the mechanical model refers to the three-dimensional structural model of the mechanical part, which can be modeled and analyzed by software.
- Harmonic response analysis and simulation can be performed for the modeled mechanical model. Harmonic response analysis and simulation is used to determine the steady-state response of a linear structure when it is subjected to a load that changes according to a sinusoidal law with time. The purpose is to calculate the structure under several frequencies.
- the response value versus frequency curve, the data obtained and used in this application is a Bode plot, that is, a logarithmic frequency characteristic curve, including an amplitude plot and a phase angle plot.
- the harmonic response analysis simulation is applicable to the analytical form of the turntable in this application.
- the harmonic response analysis process can input different types or values of input values to obtain N groups of frequency response data, and only perform system identification for one group to obtain the target number of first transfer function models and form the first transfer function. Collection of models.
- harmonic response analysis simulation includes: the material, density and frequency range of the input harmonic response analysis simulation object.
- the frequency setting may be 1-1000 Hz, so as to obtain N groups of frequency response data.
- the transfer function model may include coefficients, or it may be a transfer function that does not include coefficients.
- the model structure thus and forms a set of transfer function models, called the set of first transfer function models.
- the system identification by the auxiliary variable method in the prior art may be referred to. Since the difference between the set of transfer function models and the set of transfer function model structures is only whether they have coefficients, and the coefficients are not required in the subsequent steps, therefore, it is expressed here as a set of transfer function models and a set of transfer function model structures. are also included in this scope.
- step S3 the N groups of frequency response data obtained in step 2 and the N groups of frequency response data are systematically identified to establish a transfer function model with the above target order as the order and the target zero points as zero points, and form After the collection, the optimization selection is carried out, and the mechanical transfer function model is finally determined.
- the transfer function model obtained in step S3 needs to contain parameters, and is not a transfer function model structure.
- step S4 the preset order number and the preset zero point number of the electrical part are set, and the electrical part model corresponding to the type of the electrical part can be determined according to the prior knowledge and theoretical analysis. Optionally, it is the electrical part mentioned later.
- Part of the transfer function model because the mechanical part will also take the transfer function model as the final result, and the final overall transfer function model can be obtained by operating the two transfer functions.
- the preset signals may include voltage signals, etc., establish a set of third transfer function models based on the above preset order and preset zero points, from the set of third transfer function models
- the preferred transfer function model is selected as the electrical transfer function model, and the electrical transfer function model is a transfer function model with parameters; this process is similar to the above-mentioned process, and will not be repeated here.
- the principle of optimal selection can be based on preset criteria, for example, in terms of the characteristics of the amplitude-frequency characteristic curve corresponding to the transfer function model, and it is preferable to specify that the characteristic selection value is within the preset interval. It can also be selected according to the numerical value of the normalized root mean square error of the transfer function model, and the numerical value within the preset range or the closest preset value is preferred. Of course, it can also be selected according to the similarity between the normalized root mean square error of the transfer function model and the amplitude-frequency characteristic curve, and the one with the largest similarity in the set is preferred. In a preferred embodiment, the selection of the above optimization can be obtained according to the amplitude of the Bode plot of the transfer function model.
- the harmonic response analysis and simulation of the mechanical model is realized by ANSYS simulation, and the amplitude plot obtained by the simulation analysis is the same as
- the magnitude diagram of the Bode plot of the established transfer function model, the intuitive closeness of the two can be used to obtain the intuitive closeness; another way is to pass the magnitude of the Bode plot of the transfer function model and the NRMSE of the transfer function model.
- the similarity of the calculated values is determined.
- the method provided by this application is not limited to the above-mentioned optimization methods, and the key point is to screen out several preferred models from the actual models obtained by modeling, and obtain the preferred models related to the actual models, not the theoretical optimal models obtained by using prior knowledge. optimal solution.
- the obtained control parameters can be used to control the operation of the motor controller according to the actual structure of the turntable system, and the control of the turntable by the voice coil motor can be realized. It is more in line with the actual characteristics of the turntable.
- the present invention reasonably divides a complex mechanical-electrical system into a mechanical part and an electrical part.
- the frequency response analysis is used to establish a transfer function model, which reduces the complexity of determining the system identification method.
- the difficulty of the system model structure provides an effective solution for analyzing the system with complex structure and difficult input/output data measurement.
- step S2 different inputs in the N groups of frequency response data under different inputs are obtained, including different frequencies or different magnitudes of applied forces.
- step S2 a method for systematically identifying a set of frequency response data and establishing a set of first transfer function models of different order-zero point combinations specifically includes the following steps:
- Step S21 selecting a group of frequency response data from the N groups of frequency response data
- Step S22 use the auxiliary variable method to systematically identify the selected frequency response data, and establish several transfer function models.
- the order of the transfer function models and the combinations of zeros are different to form a set of first transfer function models.
- the auxiliary variable method (IV) is used to systematically identify the mechanical part of the system, and a set G of transfer function models with different orders and zeros is established.
- G ⁇ G 1,0 (s),G 2,0 (s),G 2,1 (s)...G np,nz-1 (s),G np,nz (s) ⁇
- np represents the order, or the number of poles
- nz represents the number of zeros
- nz ⁇ np and the specific upper limit can be adjusted within a reasonable range. It should be noted that the values of the above order and zero points may be: 1 ⁇ np ⁇ 20, np ⁇ Z, 0 ⁇ nz ⁇ 19, nz ⁇ Z, and Z is an integer.
- the upper limit of np is 20, and the upper limit of nz is 19, because in common application situations, the selection of this order value and zero point value can already meet the analysis needs.
- the above values can also be adjusted according to the actual situation.
- the auxiliary variable method is used for system identification, and the input/output data can be set as the above single set of frequency response data to obtain the input/output transfer function model, and the transfer function model is specifically G(s).
- G ⁇ G 1,0 (s),G 2,0 (s),G 2,1 (s)...G np,nz-1 (s),G np,nz (s) ⁇
- performing harmonic response analysis on the mechanical part above to obtain N groups of frequency response data under different inputs including: performing harmonic response analysis and simulation on the mechanical part model established in ANSYS finite element analysis software, setting the frequency range, analyzing And obtain the frequency response data under N groups of different inputs.
- the above frequency range may specifically be 1-1000 Hz.
- step S2 the method for selecting a preferred transfer function model from the set of first transfer function models and determining the target order and target zero points specifically includes the following steps:
- Step S23 Acquire the amplitude-frequency characteristic curve and the normalized root mean square error of each transfer function model in the set of first transfer function models, and select the preferred transfer function model according to the degree of similarity between the two, wherein the transfer function model with the greatest degree of similarity is selected.
- the function model is the preferred transfer function model;
- Step S24 obtaining the order of the preferred transfer function model as the target order, and taking the zero point number of the preferred transfer function model as the target zero point number.
- the obtained transfer function models G(s) can be used to obtain the corresponding amplitude-frequency characteristic curve, standardized root mean square error, etc., and the calculated value of the standardized root mean square error and the image of the amplitude-frequency characteristic curve can be used to obtain similarity or approximation.
- Each transfer function model G(s) has a corresponding similarity, and all the similarities can be compared. The similarity is close to 100%, indicating that the model features of the transfer function model G(s) are more optimized. Therefore, When selecting the optimized transfer function model G(s), the optimal solution can be obtained according to the above similarity. Since the total number of transfer function models G(s) is limited, the optimal solution of similarity can be selected from the set of transfer function models formed by different orders and zero points.
- obtaining the standardized root mean square error of each transfer function model includes obtaining two given matrices x[m,n] and y[m,n] to obtain the standardized root mean square error NRMSE.
- npm is the order
- nzm is The number of zero points, here G npm,nzm (s) means that the obtained transfer function model and its optimal solution are in the form of the above formula, and the value of each coefficient is determined according to the actual situation of each transfer function model.
- the order and zero points of the obtained transfer function model selected for optimization are extracted and used as the target order and target zero points respectively.
- step S3 the steps of systematically identifying the N groups of frequency response data, and establishing a set of second transfer function models of target order and target zero points, specifically include the following steps:
- Step S31 using the auxiliary variable method to systematically identify each group of frequency response data
- Step S32 establishing a set of second transfer function models with the target order as the order and the transfer function model with the target zero points as zero points, wherein the order of each transfer function model is the target order, zero. Points are all target zero points.
- the second system identification is performed in step S3, and the system identification of each group of frequency response data is performed again by the auxiliary variable method, and the selection of the order and the number of zero points for the system identification this time is not based on the above.
- the above-mentioned target order and target zero points are used as the establishment of the transfer function model, so it is necessary to obtain the above-mentioned target order and target zero points.
- the preferred target order and target zeros obtained through the above optimization are the preferred order and zeros, and the above step S3 is the transfer function of the determined order and zeros obtained by systematically identifying all the frequency response data through the two Model.
- a preferred transfer function model is selected from the set of second transfer function models as the mechanical transfer function model, including:
- Step S33 acquiring the amplitude-frequency characteristic curve and the normalized root mean square error of each transfer function model in the set of second transfer function models, and selecting the preferred transfer function model according to the degree of similarity between the two, wherein the transfer function with the greatest degree of similarity is the transfer function model.
- the model is the mechanical transfer function model G m (s).
- the method for selecting the preferred transfer function model is the same as the above-mentioned optimization method for the set of the first transfer function model, which is not repeated here.
- step S4 the preset order number and the preset zero point number of the electrical part are set, including:
- Step S41 determining the transfer function model of the electrical part according to the type of the electrical part, and obtaining the order corresponding to the transfer function model of the electrical part as the preset order, and the corresponding zero point number as the preset zero point number.
- model structure of the electrical part which is a transfer function model.
- model structure of the electrical part is determined by combining the prior knowledge and the analysis of the electrical link of the voice coil motor.
- the order and the number of zero points are obtained through the transfer function model of the above electrical part, which are respectively used as the preset order number and the preset number of zero points.
- step S4 system identification is performed on multiple groups of preset signals, and a set of third transfer function models of the preset order and the preset zero points is established, and the third transfer function model is obtained from the third transfer function model.
- Select the preferred transfer function model from the collection as the electrical transfer function model including:
- Step S42 using the voltage signal and the output displacement as the input/output amount of the preset signal respectively, using the preset signal as the input/output data, and using the auxiliary variable method to establish the preset order, the preset order Set the set of third transfer function models with zero points;
- Step S43 acquiring the amplitude-frequency characteristic curve and the normalized root mean square error of each transfer function model in the third set of transfer function models, and selecting a preferred transfer function model according to the degree of similarity between the two, wherein the degree of similarity
- the large transfer function model is the electrical transfer function model.
- the third transfer function model is determined in the same manner as above, using multiple sets of input values as preset signals, wherein the voltage signal may be a sinusoidal signal, a random Gaussian white noise signal, or the like.
- step S5 the overall transfer function model is obtained according to the mechanical transfer function model and the electrical transfer function model, including:
- Step S51 obtaining a mechanical transfer function model and an electrical transfer function model, and using this to obtain an overall transfer function model of the six-degree-of-freedom adjustment turntable.
- the method of obtaining the overall model by exporting the model and the electrical part model specifically includes the following steps:
- G m (s) is the preferred transfer function model
- Ge (s) is the electrical part model
- control parameters of the motor controller are obtained according to the overall transfer function model control, and the motor controller is controlled to control the work of the turntable according to the control parameters, including:
- Step S53 Control the output current of the motor controller according to the overall transfer function model, and control the motor controller to output the above-mentioned output current to the voice coil motor to control the operation of the turntable.
- the motor controller of the voice coil motor can be controlled to work according to the transfer function of the structure, so that the voice coil motor can be controlled according to the motor controller.
- the transfer function model of the above-mentioned overall structure can be analyzed to obtain the characteristics of the transfer function, and the motor controller can be controlled with this characteristic.
- the motor controller can be a PID controller with feedback control. Degrees of freedom adjust the control of the work of the turntable.
- the setting of the motor controller in the prior art is usually based on a priori data, or a general analysis is performed. Considering the characteristics in the transfer function model, the obtained motor controller has the characteristics of adjusting the turntable with six degrees of freedom. Therefore, the parameter setting can achieve the purpose of accurately controlling the voice coil motor. For the motor controller with feedback control, The improvement of the accuracy of the feedback control parameters can better improve the control accuracy of the motor controller.
- the above-mentioned adjustment of the motor controller mainly changes the current output by the voice coil motor of the motor controller, that is to say, the current delivered by the motor controller to the voice coil motor can be changed, so as to realize the adjustment of the voice coil motor. to make it more in line with the characteristics and actual state of the current six-degree-of-freedom adjustment turntable.
- the motor control with feedback control is mainly used for description.
- other types of motor controllers or control forms for voice coil motors are also possible.
- the invention divides the complex electromechanical system into mechanical parts and electrical parts, and uses ANSYS finite element analysis software to model the complex mechanical parts in the system, and carries out harmonic response analysis, based on the acquired frequency response data, with the help of auxiliary variable method ( IV), establish the system transfer function model of the mechanical part.
- auxiliary variable method IV
- the system model structure is determined based on prior knowledge, and the transfer function model of the electrical part is established directly based on the experimental data using the auxiliary variable method (IV).
- the overall transfer function model of the system is calculated.
- the application establishes a transfer function model by means of finite element analysis, which reduces the difficulty of determining the model structure of a complex system in the system identification method, and provides an effective solution for analyzing systems with complex structures and difficult input/output data measurement.
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Abstract
A control method for a turntable with six-degrees-of-freedom adjustment, comprising: dividing the turntable with six-degrees-of-freedom adjustment into mechanical parts for harmonic response analysis in order to acquire N groups of frequency response data under different inputs, performing systematic identification on a group of frequency response data, and establishing a set of first transfer function models of different order-zero number combinations; performing systematic identification on the N groups of frequency response data, and selecting a preferred transfer function model from a set of second transfer function models as a mechanical transfer function model; setting a preset order and preset zero number of an electrical part, performing systematic identification on a plurality of preset signals, and establishing a set of third transfer function models of a preset order and preset zero number and an electrical transfer function model; acquiring and controlling a control parameter of a motor controller on the basis of an overall transfer function, and controlling the motor controller to control the operation of the turntable on the basis of the control parameter. The present invention can achieve accurate control of a complex system.
Description
本发明涉及系统辨识技术领域,更具体地说,涉及一种六自由度调整转台的控制方法。The invention relates to the technical field of system identification, and more particularly, to a control method for adjusting a turntable with six degrees of freedom.
现有的传统系统辨识技术,其流程主要为:依据辨识目的及系统先验知识,设计辨识实验,获取输入/输出数据后,对数据进行预处理,而后根据先验知识及辨识目的,确定模型结构,使用数学方法进行参数估计,建立系统的传递函数模型。The main process of the existing traditional system identification technology is: design identification experiments according to the identification purpose and prior knowledge of the system, after acquiring the input/output data, preprocess the data, and then determine the model according to the prior knowledge and identification purpose. Structure, use mathematical methods for parameter estimation, and establish the transfer function model of the system.
对于复杂的系统,尤其是复杂的机电系统而言,传统辨识方法的难点在于:由于系统本身的复杂性,以及对控制精度的高要求,辨识过程中的核心步骤之一:模型结构确定的常规方法效果并不理想,难以精准地给定系统的模型结构,从而影响了后续的系统辨识,以及基于传递函数模型设计控制器的工作。For complex systems, especially complex electromechanical systems, the difficulty of traditional identification methods lies in: due to the complexity of the system itself and the high requirements for control accuracy, one of the core steps in the identification process is the routine determination of the model structure. The effect of the method is not ideal, and it is difficult to accurately specify the model structure of the system, which affects the subsequent system identification and the work of designing the controller based on the transfer function model.
已有技术中,针对一些复杂的纯机械结构,分析中,可将系统实物拆解为多个简单结构后,对每个部分分别设计实验,获取输入/输出数据后,使用系统辨识建立传递函数。但对于某些高精密的机械结构上,测试中不便于拆解,因此即使从理论角度上,可以将系统分解为多个环节,但无法拆解的整体机械结构,为各环节实际数据的准确测量造成了困难。In the prior art, for some complex pure mechanical structures, in the analysis, the physical object of the system can be disassembled into a plurality of simple structures, and then experiments are designed for each part separately, and after the input/output data is obtained, the system identification is used to establish the transfer function. . However, for some high-precision mechanical structures, it is inconvenient to disassemble during the test. Therefore, even if the system can be decomposed into multiple links from a theoretical point of view, the overall mechanical structure that cannot be disassembled is for the accuracy of the actual data of each link. The measurement created difficulties.
综上所述,如何提供一种能够实现准确控制的六自由度调整转台的控制方法,是目前本领域技术人员亟待解决的问题。To sum up, how to provide a control method for adjusting the turntable with six degrees of freedom capable of realizing accurate control is an urgent problem to be solved by those skilled in the art.
发明内容SUMMARY OF THE INVENTION
有鉴于此,本发明的目的是提供一种六自由度调整转台的控制方法,该方法能够实现对六自由度调整转台的精确控制。In view of this, the purpose of the present invention is to provide a control method for a six-degree-of-freedom adjustment turntable, which can realize precise control of the six-degree-of-freedom adjustment turntable.
为了实现上述目的,本发明提供如下技术方案:In order to achieve the above object, the present invention provides the following technical solutions:
一种六自由度调整转台的控制方法,应用于六自由度调整转台,所述六自由度调整转台包括转台、音圈电机和电机控制器,所述控制方法包括:A control method for a six-degree-of-freedom adjustment turntable is applied to a six-degree-of-freedom adjustment turntable, wherein the six-degree-of-freedom adjustment turntable includes a turntable, a voice coil motor and a motor controller, and the control method includes:
将所述六自由度调整转台划分为机械部分和电气部分;dividing the six-DOF adjustment turntable into a mechanical part and an electrical part;
对所述机械部分进行谐响应分析,以获取不同输入下的N组频率响应数据,对一组所述频率响应数据进行系统辨识,建立不同的阶数-零点数组合的第一传递函数模型的集合,从所述第一传递函数模型的集合中选取优选的传递函数模型并以其阶数作为目标阶数、零点数作为目标零点数;Perform harmonic response analysis on the mechanical part to obtain N groups of frequency response data under different inputs, perform systematic identification on a group of the frequency response data, and establish a first transfer function model of different order-zero number combinations. Set, select the preferred transfer function model from the set of the first transfer function model and use its order as the target order, and the number of zeros as the number of target zeros;
对N组所述频率响应数据进行系统辨识,建立所述目标阶数、所述目标零点数的第二传递函数模型的集合,从所述第二传递函数模型的集合中选取优选的传递函数模型作为机械传递函数模型;所述机械传递函数模型为含有参数的传递函数模型;Perform systematic identification on N groups of the frequency response data, establish a set of second transfer function models of the target order and target zero points, and select a preferred transfer function model from the set of second transfer function models as a mechanical transfer function model; the mechanical transfer function model is a transfer function model containing parameters;
设定所述电气部分的预设阶数和预设零点数,对多组预设信号进行系统辨识,建立所述预设阶数、所述预设零点数的第三传递函数模型的集合,从所述第三传递函数模型的集合中选取优选的传递函数模型,作为电气传递函数模型;所述电气传递函数模型为含有参数的传递函数模型;Setting the preset order and preset zero points of the electrical part, performing systematic identification on multiple groups of preset signals, and establishing a set of third transfer function models of the preset order and preset zero points, Select a preferred transfer function model from the set of the third transfer function models as an electrical transfer function model; the electrical transfer function model is a transfer function model containing parameters;
依据所述机械传递函数模型和所述电气传递函数模型得到整体传递函数模型,根据所述整体传递函数模型控制得到所述电机控制器的控制参数,并控制所述电机控制器依据所述控制参数控制所述转台的工作。Obtaining an overall transfer function model according to the mechanical transfer function model and the electrical transfer function model, obtaining control parameters of the motor controller according to the overall transfer function model, and controlling the motor controller according to the control parameters Control the operation of the turntable.
优选地,获取不同输入下的N组频率响应数据中的不同输入包括:不同频率或不同施力的大小。Preferably, obtaining different inputs in the N groups of frequency response data under different inputs includes: different frequencies or different magnitudes of applied forces.
优选地,对一组所述频率响应数据进行系统辨识,建立不同的阶数-零点数组合的第一传递函数模型的集合,包括:Preferably, a set of frequency response data is systematically identified, and a set of first transfer function models of different order-zero point combinations is established, including:
在N组所述频率响应数据中选择一组所述频率响应数据;selecting a group of the frequency response data from the N groups of the frequency response data;
利用辅助变量法对选出的所述频率响应数据进行系统辨识,建立若干个传递函数模型,所述传递函数模型的阶数-零点数的组合不相同,以形成所述第一传递函数模型的集合。The selected frequency response data is systematically identified by the auxiliary variable method, and several transfer function models are established. gather.
优选地,从所述第一传递函数模型的集合中选取优选的传递函数模型并确定目标阶数和目标零点数,包括:Preferably, a preferred transfer function model is selected from the set of the first transfer function models and the target order and target zeros are determined, including:
获取所述第一传递函数模型的集合中的各个所述传递函数模型的幅频特性曲线、标准化均方根误差,并根据二者的相似程度选取优选的传递函数模型,其中,所述相似程度大的传递函数模型为所述优选的传递函数模型;Obtain the amplitude-frequency characteristic curve and the normalized root mean square error of each of the transfer function models in the set of the first transfer function models, and select a preferred transfer function model according to the degree of similarity between the two, wherein the degree of similarity The large transfer function model is the preferred transfer function model;
获取所述优选的传递函数模型的阶数为所述目标阶数,以所述优选的传递函数模型的零点数为所述目标零点数。The order of the preferred transfer function model is obtained as the target order, and the zero point number of the preferred transfer function model is taken as the target zero point number.
优选地,对N组所述频率响应数据进行系统辨识,建立所述目标阶数、所述目标零点数的第二传递函数模型的集合,包括:Preferably, systematic identification is performed on the N groups of the frequency response data, and a set of second transfer function models of the target order and the target zero points is established, including:
利用辅助变量法对每一组所述频率响应数据进行系统辨识;Use the auxiliary variable method to systematically identify each group of the frequency response data;
建立若干个以所述目标阶数为阶数、以所述目标零点数为零点数的所述传递函数模型的第二传递函数模型的集合,其中每一个所述传递函数模型的阶数均为所述目标阶数、零点数均为所述目标零点数。Establish a set of second transfer function models of the transfer function model with the target order as the order and the target zero points as zero points, wherein the order of each of the transfer function models is The target order and the number of zero points are both the number of target zero points.
优选地,从所述第二传递函数模型的集合中选取优选的传递函数模型作为机械传递函数模型,包括:Preferably, a preferred transfer function model is selected from the set of the second transfer function models as the mechanical transfer function model, including:
获取所述第二传递函数模型的集合中各个传递函数模型的幅频特性曲线、标准化均方根误差,并根据二者的相似程度选取优选的传递函数模型,其中,所述相似程度大的传递函数模型为所述机械传递函数模型。Obtain the amplitude-frequency characteristic curve and the standardized root mean square error of each transfer function model in the set of the second transfer function models, and select the preferred transfer function model according to the degree of similarity between the two, wherein the transfer function model with the largest degree of similarity is selected. The functional model is the mechanical transfer function model.
优选地,设定所述电气部分的预设阶数和预设零点数,包括:Preferably, setting the preset order and preset zero points of the electrical part includes:
根据所述电气部分的类型确定所述电气部分的传递函数模型,获取所述电气部分的传递函数模型对应的阶数作为所述预设阶数、对应的零点数作为所述预设零点数。The transfer function model of the electrical part is determined according to the type of the electrical part, and the order corresponding to the transfer function model of the electrical part is obtained as the preset order, and the corresponding zero point number is used as the preset zero point number.
优选地,对多组预设信号进行系统辨识,建立所述预设阶数、所述预设零点数的第三传递函数模型的集合,从所述第三传递函数模型的集合中选取优选的传递函数模型,作为电气传递函数模型;包括:Preferably, a system identification is performed on a plurality of groups of preset signals, a set of third transfer function models of the preset order and the preset zero points is established, and a preferred set of transfer function models is selected from the set of third transfer function models. Transfer function model, as an electrical transfer function model; includes:
以电压信号和输出的位移量分别作为预设信号的输入/输出量,以所述预设信号作为输入/输出数据,使用辅助变量法,建立所述预设阶数、所述预设零点数的第三传递函数模型的集合;Taking the voltage signal and the output displacement as the input/output quantities of the preset signal respectively, using the preset signal as the input/output data, and using the auxiliary variable method to establish the preset order number and the preset zero point number A collection of third transfer function models of ;
获取所述第三传递函数模型的集合中各个传递函数模型的幅频特性曲线、标准化均方根误差,并根据二者的相似程度选取优选的传递函数模型,其中,所述相似程度大的传递函数模型为所述电气传递函数模型。Obtain the amplitude-frequency characteristic curve and the standardized root mean square error of each transfer function model in the set of the third transfer function model, and select the preferred transfer function model according to the degree of similarity between the two, wherein the transfer function model with the largest degree of similarity is the transfer function model. The functional model is the electrical transfer function model.
根据所述整体传递函数模型控制得到所述电机控制器的控制参数,并控制所述电机控制器依据所述控制参数控制所述转台的工作,包括:Controlling to obtain the control parameters of the motor controller according to the overall transfer function model, and controlling the motor controller to control the work of the turntable according to the control parameters, including:
根据所述整体传递函数模型控制所述电机控制器的输出电流,控制所 述电机控制器向所述音圈电机输出所述输出电流,以控制所述转台的工作。The output current of the motor controller is controlled according to the overall transfer function model, and the motor controller is controlled to output the output current to the voice coil motor, so as to control the operation of the turntable.
本发明将复杂的机械-电气系统合理地拆分为机械部分及电气部分,对机械部分借助频率响应分析、建立传递函数模型,降低了系统辨识方法中,确定复杂系统模型结构的难度;为分析结构复杂、输入/输出数据测量困难的系统提供了行之有效的解决方案。The invention reasonably divides a complex mechanical-electrical system into a mechanical part and an electrical part, and establishes a transfer function model by means of frequency response analysis for the mechanical part, which reduces the difficulty of determining the structure of the complex system model in the system identification method; Systems with complex structures and difficult input/output data measurement provide a proven solution.
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据提供的附图获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to the provided drawings without creative work.
图1为本发明所提供六自由度调整转台的控制方法的流程图;1 is a flowchart of a control method for a six-degree-of-freedom adjustment turntable provided by the present invention;
图2为本发明所提供的具体实施例的流程图;Fig. 2 is the flow chart of the specific embodiment provided by the present invention;
图3为本发明所提供的划分六自由度调整转台的示意图;3 is a schematic diagram of a six-degree-of-freedom adjustment turntable provided by the present invention;
图4为六自由度转台的电机控制系统的正视图;Fig. 4 is the front view of the motor control system of the six-degree-of-freedom turntable;
图5为六自由度转台的电机控制系统的俯视图;Fig. 5 is the top view of the motor control system of the six-degree-of-freedom turntable;
图6为六自由度转台的电机控制系统的左视图。FIG. 6 is a left side view of the motor control system of the six-degree-of-freedom turntable.
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
本发明的核心是提供一种六自由度调整转台的控制方法,该方法能够实现对六自由度调整转台的精确控制,控制效果好。The core of the present invention is to provide a control method for adjusting the turntable with six degrees of freedom, which can realize precise control of the adjusting turntable with six degrees of freedom, and has good control effect.
请参考图1至图6,图1为本发明所提供六自由度调整转台的控制方法的流程图;图2为本发明所提供的具体实施例的流程图;图3为本发明所提供的划分六自由度调整转台的示意图;图4为六自由度转台的电机控 制系统的正视图;图5为六自由度转台的电机控制系统的俯视图;图6为六自由度转台的电机控制系统的左视图。Please refer to FIG. 1 to FIG. 6. FIG. 1 is a flowchart of a control method for a six-degree-of-freedom adjustment turntable provided by the present invention; FIG. 2 is a flowchart of a specific embodiment provided by the present invention; Figure 4 is a front view of the motor control system of the six degrees of freedom turntable; Figure 5 is a top view of the motor control system of the six degrees of freedom turntable; Figure 6 is the motor control system of the six degrees of freedom turntable. Left view.
本申请提供的一种六自由度调整转台的控制方法,应用于六自由度调整转台,六自由度调整转台包括转台、音圈电机和电机控制器,上述控制方法包括以下步骤:A control method for a six-degree-of-freedom adjustment turntable provided by the present application is applied to a six-degree-of-freedom adjustment turntable. The six-degree-of-freedom adjustment turntable includes a turntable, a voice coil motor and a motor controller, and the control method includes the following steps:
步骤S1、将六自由度调整转台划分为机械部分和电气部分;Step S1, dividing the six-degree-of-freedom adjustment turntable into a mechanical part and an electrical part;
步骤S2、对机械部分进行谐响应分析,以获取不同输入下的N组频率响应数据,对一组频率响应数据进行系统辨识,建立不同的阶数-零点数组合的第一传递函数模型的集合,从第一传递函数模型的集合中选取优选的传递函数模型并以其阶数作为目标阶数、零点数作为目标零点数;Step S2, perform harmonic response analysis on the mechanical part to obtain N groups of frequency response data under different inputs, perform systematic identification on a group of frequency response data, and establish a set of first transfer function models with different order-zero number combinations , select the preferred transfer function model from the set of the first transfer function model and use its order as the target order and zeros as the target zeros;
步骤S3、对N组频率响应数据进行系统辨识,建立目标阶数、目标零点数的第二传递函数模型的集合,从第二传递函数模型的集合中选取优选的传递函数模型作为机械传递函数模型;Step S3, perform systematic identification on N groups of frequency response data, establish a set of second transfer function models of target order and target zero points, and select a preferred transfer function model from the set of second transfer function models as the mechanical transfer function model. ;
步骤S4、设定电气部分的预设阶数和预设零点数,对多组预设信号进行系统辨识,建立预设阶数、预设零点数的第三传递函数模型的集合,从第三传递函数模型的集合中选取优选的传递函数模型,作为电气传递函数模型;Step S4, setting the preset order and preset zero points of the electrical part, performing system identification on multiple groups of preset signals, and establishing a set of third transfer function models of preset order and preset zero points, from the third Select the preferred transfer function model from the set of transfer function models as the electrical transfer function model;
步骤S5、依据机械传递函数模型和电气传递函数模型得到整体传递函数模型,根据整体传递函数模型控制电机控制器的控制参数,并控制电机控制器依据控制参数控制转台的工作。Step S5, obtain an overall transfer function model according to the mechanical transfer function model and the electrical transfer function model, control the control parameters of the motor controller according to the overall transfer function model, and control the motor controller to control the work of the turntable according to the control parameters.
六自由度调整转台的示意图请参考图4至图6,其中,转台1的下方设置有支撑调整腿,对于转台1形成6个方向的支撑和调整,支撑力在图中,分别为F
1、F
2、F
3、F
4、F
5和F
6。
For the schematic diagrams of the six-degree-of-freedom adjustment turntable, please refer to FIGS. 4 to 6 , wherein, the lower part of the turntable 1 is provided with support and adjustment legs, which form six directions of support and adjustment for the turntable 1. The support forces are F 1 , F 2 , F 3 , F 4 , F 5 and F 6 .
若干个支撑调整支腿分别能够进行调整,以改变转台的空间状态,上述支撑调整支腿分别对应连接音圈电机,上述转台等连接结构是六自由度调整转台的机械部分,音圈电机是六自由度调整转台的电气部分。Several support and adjustment legs can be adjusted respectively to change the space state of the turntable. The above-mentioned support and adjustment legs are respectively connected to the voice coil motor. The above-mentioned connection structures such as the turntable are the mechanical parts of the six-degree-of-freedom adjustment turntable. Degree of freedom adjusts the electrical part of the turntable.
步骤S1中将整体划分为机械部分和电气部分,并不是指将实体进行拆分,指的是将二者分别进行分析和考察。Dividing the whole into a mechanical part and an electrical part in step S1 does not mean dividing the entity, but means analyzing and investigating the two respectively.
步骤S2中机械部分可以进行建模,得到机械模型,机械模型指的是机 械部分的三维结构模型,可以通过软件进行建模分析。对于已建模的机械模型可以进行谐响应分析仿真,谐响应分析仿真是用于确定线性结构在承受随时间按正弦规律变化的载荷时的稳态响应,目的在于计算出结构在几种频率下的响应值对频率的曲线,在本申请中获得并使用的数据是伯德图,也就是对数频率特性曲线,包括幅值图和相角图。谐响应分析仿真适用于本申请中的转台的分析形式。In step S2, the mechanical part can be modeled to obtain a mechanical model, and the mechanical model refers to the three-dimensional structural model of the mechanical part, which can be modeled and analyzed by software. Harmonic response analysis and simulation can be performed for the modeled mechanical model. Harmonic response analysis and simulation is used to determine the steady-state response of a linear structure when it is subjected to a load that changes according to a sinusoidal law with time. The purpose is to calculate the structure under several frequencies. The response value versus frequency curve, the data obtained and used in this application is a Bode plot, that is, a logarithmic frequency characteristic curve, including an amplitude plot and a phase angle plot. The harmonic response analysis simulation is applicable to the analytical form of the turntable in this application.
其中,谐响应分析过程可以输入不同种类或取值的输入值,从而获得N组频率响应数据,仅针对其中一组进行系统辨识,获得目标数量的第一传递函数模型,并形成第一传递函数模型的集合。Among them, the harmonic response analysis process can input different types or values of input values to obtain N groups of frequency response data, and only perform system identification for one group to obtain the target number of first transfer function models and form the first transfer function. Collection of models.
上述不同种类或取值的输入值包括不同的频率等,以实现得到N组不同输入值建立的频率响应数据组。The above input values of different types or values include different frequencies, etc., so as to obtain frequency response data sets established by N sets of different input values.
本申请提供了一种基于ANSYS建模分析、进行谐响应分析的方案。需要说明的是,谐响应分析仿真中包括:输入谐响应分析仿真对象的材料、密度和需要关注的频率段。This application provides a solution for performing harmonic response analysis based on ANSYS modeling analysis. It should be noted that the harmonic response analysis simulation includes: the material, density and frequency range of the input harmonic response analysis simulation object.
可选的,在本申请中频率设置可以为1-1000Hz,从而获取N组频率响应数据。Optionally, in this application, the frequency setting may be 1-1000 Hz, so as to obtain N groups of frequency response data.
上述系统辨识的过程中,需要建立不同的阶数-零点数组合的传递函数模型,形成可选择的若干个传递函数模型,其中传递函数模型中可以包括系数,也可以为不包括系数的传递函数模型结构,从而并形成传递函数模型的集合,称为第一传递函数模型的集合。此过程中,可以参考现有技术中通过辅助变量法进行系统辨识。由于传递函数模型的集合和传递函数模型结构的集合的差别仅在于是否具有系数,而在后续步骤中并不需要该系数,因此,此处表述为传递函数模型的集合,传递函数模型结构的集合的情况同样也包括在该范围内。In the process of the above-mentioned system identification, it is necessary to establish transfer function models of different order-zero point combinations to form several selectable transfer function models, wherein the transfer function model may include coefficients, or it may be a transfer function that does not include coefficients. The model structure thus and forms a set of transfer function models, called the set of first transfer function models. In this process, the system identification by the auxiliary variable method in the prior art may be referred to. Since the difference between the set of transfer function models and the set of transfer function model structures is only whether they have coefficients, and the coefficients are not required in the subsequent steps, therefore, it is expressed here as a set of transfer function models and a set of transfer function model structures. are also included in this scope.
再通过优化选取,得到优选的传递函数模型的集合,从而确定目标阶数和目标零点数。Then, through optimization selection, a set of preferred transfer function models is obtained, so as to determine the target order and target zeros.
步骤S3中,将步骤2中得到的N组频率响应数据,将N组频率响应数据均进行系统辨识,建立以上述目标阶数为阶数、目标零点数为零点数的传递函数模型,并形成集合后进行优化选择,最终确定机械传递函数模 型。步骤S3中得到的传递函数模型是需要包含参数的,并不是传递函数模型结构。In step S3, the N groups of frequency response data obtained in step 2 and the N groups of frequency response data are systematically identified to establish a transfer function model with the above target order as the order and the target zero points as zero points, and form After the collection, the optimization selection is carried out, and the mechanical transfer function model is finally determined. The transfer function model obtained in step S3 needs to contain parameters, and is not a transfer function model structure.
步骤S4中,设定电气部分的预设阶数和预设零点数,可以依据先验知识及理论分析,确定电气部分的类型所对应的电气部分模型,可选的,为后续提到的电气部分的传递函数模型,因为机械部分也会以传递函数的模型为最终获取结果,可以通过将两个传递函数运算得到最终整体的传递函数模型。In step S4, the preset order number and the preset zero point number of the electrical part are set, and the electrical part model corresponding to the type of the electrical part can be determined according to the prior knowledge and theoretical analysis. Optionally, it is the electrical part mentioned later. Part of the transfer function model, because the mechanical part will also take the transfer function model as the final result, and the final overall transfer function model can be obtained by operating the two transfer functions.
对多组预设信号进行系统辨识,预设信号可以包括电压信号等,建立以上述预设阶数和预设零点数为标准的第三传递函数模型的集合,从第三传递函数模型的集合中选取优选的传递函数模型,作为电气传递函数模型,电气传递函数模型为含有参数的传递函数模型;该过程与上述过程类似,此处不再赘述。Perform system identification on multiple groups of preset signals, the preset signals may include voltage signals, etc., establish a set of third transfer function models based on the above preset order and preset zero points, from the set of third transfer function models The preferred transfer function model is selected as the electrical transfer function model, and the electrical transfer function model is a transfer function model with parameters; this process is similar to the above-mentioned process, and will not be repeated here.
优化选择的原则可以依据预先设定的标准,例如在传递函数模型对应的幅频特性曲线的特性方面选择,规定特性选择值在预设区间内为优选。也可以根据传递函数模型的标准化均方根误差的数值大小方面选择,数值在预设范围内或最接近预设值为优选。当然,还可以根据传递函数模型的标准化均方根误差与幅频特性曲线的相似度选择,集合中相似度最大的为优选。在一个优选的实施例中,上述优化的选取可以根据传递函数模型的伯德图的幅值得到,具体地,对机械模型进行谐响应分析仿真通过ANSYS仿真实现,仿真分析得到的幅值图与建立的传递函数模型的伯德图的幅值图,二者直观的接近程度可以用于得到直观接近程度;另一种方式是通过传递函数模型的伯德图的幅值与传递函数模型的NRMSE计算值的相似程度确定。The principle of optimal selection can be based on preset criteria, for example, in terms of the characteristics of the amplitude-frequency characteristic curve corresponding to the transfer function model, and it is preferable to specify that the characteristic selection value is within the preset interval. It can also be selected according to the numerical value of the normalized root mean square error of the transfer function model, and the numerical value within the preset range or the closest preset value is preferred. Of course, it can also be selected according to the similarity between the normalized root mean square error of the transfer function model and the amplitude-frequency characteristic curve, and the one with the largest similarity in the set is preferred. In a preferred embodiment, the selection of the above optimization can be obtained according to the amplitude of the Bode plot of the transfer function model. Specifically, the harmonic response analysis and simulation of the mechanical model is realized by ANSYS simulation, and the amplitude plot obtained by the simulation analysis is the same as The magnitude diagram of the Bode plot of the established transfer function model, the intuitive closeness of the two can be used to obtain the intuitive closeness; another way is to pass the magnitude of the Bode plot of the transfer function model and the NRMSE of the transfer function model. The similarity of the calculated values is determined.
本申请提供的方式并不局限于上述优化方式,重点在于通过建模得到的实际模型中筛选出若干优选模型,得到的是与实际模型相关的优选模型,并不是利用先验知识得到的理论最优解。The method provided by this application is not limited to the above-mentioned optimization methods, and the key point is to screen out several preferred models from the actual models obtained by modeling, and obtain the preferred models related to the actual models, not the theoretical optimal models obtained by using prior knowledge. optimal solution.
本申请中,由于整体模型中机械部分是根据实际模型的分析获取的,所以得到的控制参数能够针对转台系统实际结构,以上述控制参数控制电机控制器工作,能够实现音圈电机对转台的控制更加符合转台实际特性。In this application, since the mechanical part in the overall model is obtained according to the analysis of the actual model, the obtained control parameters can be used to control the operation of the motor controller according to the actual structure of the turntable system, and the control of the turntable by the voice coil motor can be realized. It is more in line with the actual characteristics of the turntable.
本发明将复杂的机械-电气系统合理地拆分为机械部分及电气部分,对不便于进一步拆分的机械部分,则借助频率响应分析、建立传递函数模型,降低了系统辨识方法中,确定复杂系统模型结构的难度,为分析结构复杂、输入/输出数据测量困难的系统提供了行之有效的解决方案。The present invention reasonably divides a complex mechanical-electrical system into a mechanical part and an electrical part. For the mechanical part that is inconvenient for further disassembly, the frequency response analysis is used to establish a transfer function model, which reduces the complexity of determining the system identification method. The difficulty of the system model structure provides an effective solution for analyzing the system with complex structure and difficult input/output data measurement.
步骤S2中,获取不同输入下的N组频率响应数据中的不同输入包括不同频率或不同施力的大小。In step S2, different inputs in the N groups of frequency response data under different inputs are obtained, including different frequencies or different magnitudes of applied forces.
步骤S2中,对一组频率响应数据进行系统辨识,建立不同的阶数-零点数组合的第一传递函数模型的集合的方法,具体包括以下步骤:In step S2, a method for systematically identifying a set of frequency response data and establishing a set of first transfer function models of different order-zero point combinations specifically includes the following steps:
步骤S21、在N组频率响应数据中选择一组频率响应数据;Step S21, selecting a group of frequency response data from the N groups of frequency response data;
步骤S22、利用辅助变量法对选出的频率响应数据进行系统辨识,建立若干个传递函数模型,传递函数模型的阶数-零点数的组合不相同,以形成第一传递函数模型的集合。Step S22 , use the auxiliary variable method to systematically identify the selected frequency response data, and establish several transfer function models. The order of the transfer function models and the combinations of zeros are different to form a set of first transfer function models.
具体地,以某一组频率响应数据分别作为输入/输出数据,使用辅助变量法(IV),对系统机械部分进行系统辨识,建立阶数、零点数不同的传递函数模型集合G。Specifically, using a certain group of frequency response data as input/output data, the auxiliary variable method (IV) is used to systematically identify the mechanical part of the system, and a set G of transfer function models with different orders and zeros is established.
G={G
1,0(s),G
2,0(s),G
2,1(s)...G
np,nz-1(s),G
np,nz(s)}
G={G 1,0 (s),G 2,0 (s),G 2,1 (s)...G np,nz-1 (s),G np,nz (s)}
其中,np表示阶数,或称为极点数,nz表示零点数,且nz<np,具体上限值可以在合理范围内调整。需要说明的是,上述阶数和零点数的取值可以为:1≤np≤20,np∈Z,0≤nz≤19,nz∈Z,Z为整数。Among them, np represents the order, or the number of poles, nz represents the number of zeros, and nz<np, and the specific upper limit can be adjusted within a reasonable range. It should be noted that the values of the above order and zero points may be: 1≤np≤20, np∈Z, 0≤nz≤19, nz∈Z, and Z is an integer.
其中,np上限为20,nz上限为19,是因为常见适用情况中,选取该阶数值和零点数值已经能够满足分析需要,当然,上述数值还可以根据实际情况进行调整。Among them, the upper limit of np is 20, and the upper limit of nz is 19, because in common application situations, the selection of this order value and zero point value can already meet the analysis needs. Of course, the above values can also be adjusted according to the actual situation.
本实施例中,利用辅助变量法进行系统辨识,可以通过将输入/输出数据均设置为上述单组频率响应数据,从而得到输入/输出的传递函数模型,传递函数模型具体为G(s)。In this embodiment, the auxiliary variable method is used for system identification, and the input/output data can be set as the above single set of frequency response data to obtain the input/output transfer function model, and the transfer function model is specifically G(s).
同时由于不同的阶数和零点数,能够获得不同的传递函数模型G(s),以上述阶数和零点数进行划分,从而得到上述传递函数模型G(s)的集合:At the same time, due to different orders and zero points, different transfer function models G(s) can be obtained, which are divided by the above orders and zero points, so as to obtain the set of the above transfer function models G(s):
G={G
1,0(s),G
2,0(s),G
2,1(s)...G
np,nz-1(s),G
np,nz(s)}
G={G 1,0 (s),G 2,0 (s),G 2,1 (s)...G np,nz-1 (s),G np,nz (s)}
具体地,上述对机械部分进行谐响应分析,以获取不同输入下的N组 频率响应数据,包括:对ANSYS有限元分析软件中建立的机械部分模型进行谐响应分析仿真,设定频率范围,分析并获取N组不同输入下的频率响应数据。Specifically, performing harmonic response analysis on the mechanical part above to obtain N groups of frequency response data under different inputs, including: performing harmonic response analysis and simulation on the mechanical part model established in ANSYS finite element analysis software, setting the frequency range, analyzing And obtain the frequency response data under N groups of different inputs.
上述频率范围具体可以为1-1000Hz。The above frequency range may specifically be 1-1000 Hz.
步骤S2中,从第一传递函数模型的集合中选取优选的传递函数模型并确定目标阶数和目标零点数的方法,具体包括以下步骤:In step S2, the method for selecting a preferred transfer function model from the set of first transfer function models and determining the target order and target zero points specifically includes the following steps:
步骤S23、获取第一传递函数模型的集合中的各个传递函数模型的幅频特性曲线、标准化均方根误差,并根据二者的相似程度选取优选的传递函数模型,其中,相似程度大的传递函数模型为优选的传递函数模型;Step S23: Acquire the amplitude-frequency characteristic curve and the normalized root mean square error of each transfer function model in the set of first transfer function models, and select the preferred transfer function model according to the degree of similarity between the two, wherein the transfer function model with the greatest degree of similarity is selected. The function model is the preferred transfer function model;
步骤S24、获取优选的传递函数模型的阶数为目标阶数,以优选的传递函数模型的零点数为目标零点数。Step S24 , obtaining the order of the preferred transfer function model as the target order, and taking the zero point number of the preferred transfer function model as the target zero point number.
得到的各个传递函数模型G(s)可以用于获取对应的幅频特性曲线、标准化均方根误差等,而标准化均方根误差的计算值与幅频特性曲线的图像可以获取相似度或近似度,每个传递函数模型G(s)均对应有一个相似度,可以将所有相似度进行比较,相似度趋近于100%,表示传递函数模型G(s)的模型特征更加优化,因此,在选取优化的传递函数模型G(s)时,可以根据上述相似度得到最优解。由于传递函数模型G(s)的总数有限,因此在不同的阶数和零点数形成的传递函数模型集合中,能够选取出相似度的最优解。The obtained transfer function models G(s) can be used to obtain the corresponding amplitude-frequency characteristic curve, standardized root mean square error, etc., and the calculated value of the standardized root mean square error and the image of the amplitude-frequency characteristic curve can be used to obtain similarity or approximation. Each transfer function model G(s) has a corresponding similarity, and all the similarities can be compared. The similarity is close to 100%, indicating that the model features of the transfer function model G(s) are more optimized. Therefore, When selecting the optimized transfer function model G(s), the optimal solution can be obtained according to the above similarity. Since the total number of transfer function models G(s) is limited, the optimal solution of similarity can be selected from the set of transfer function models formed by different orders and zero points.
具体地,获取各个传递函数模型的标准化均方根误差,包括获取两个给定的矩阵x[m,n]和矩阵y[m,n],得到标准化均方根误差NRMSE。Specifically, obtaining the standardized root mean square error of each transfer function model includes obtaining two given matrices x[m,n] and y[m,n] to obtain the standardized root mean square error NRMSE.
具体地,获取各个传递函数模型的统一形式,如下公式:Specifically, the unified form of each transfer function model is obtained, as follows:
选取优选的传递函数模型的确定,其中,通用公式中的a
1、a
2、…、a
npm、b
0、b
1、b
2、…、b
nzm均为系数,npm为阶数,nzm为零点数,这里G
npm,nzm(s)是指获取得到的传递函数模型及其最优解均具有上述公式的形式,各系数的取值以各个传递函数模型根据实际确定。
Select the determination of the preferred transfer function model, wherein a 1 , a 2 , ..., an npm , b 0 , b 1 , b 2 , ..., b nzm in the general formula are all coefficients, npm is the order, and nzm is The number of zero points, here G npm,nzm (s) means that the obtained transfer function model and its optimal solution are in the form of the above formula, and the value of each coefficient is determined according to the actual situation of each transfer function model.
将得到的优化选择的传递函数模型的阶数和零点数提取出来,分别作 为目标阶数和目标零点数。The order and zero points of the obtained transfer function model selected for optimization are extracted and used as the target order and target zero points respectively.
步骤S3中,对N组频率响应数据进行系统辨识,建立目标阶数、目标零点数的第二传递函数模型的集合的步骤,具体包括以下步骤:In step S3, the steps of systematically identifying the N groups of frequency response data, and establishing a set of second transfer function models of target order and target zero points, specifically include the following steps:
步骤S31、利用辅助变量法对每一组频率响应数据进行系统辨识;Step S31, using the auxiliary variable method to systematically identify each group of frequency response data;
步骤S32、建立若干个以目标阶数为阶数、以目标零点数为零点数的传递函数模型的第二传递函数模型的集合,其中每一个传递函数模型的阶数均为目标阶数、零点数均为目标零点数。Step S32, establishing a set of second transfer function models with the target order as the order and the transfer function model with the target zero points as zero points, wherein the order of each transfer function model is the target order, zero. Points are all target zero points.
需要说明的是,步骤S3中进行第二次的系统辨识,通过辅助变量法再次对每一组频率响应数据进行系统辨识,而本次进行系统辨识的阶数和零点数的选择并不是按照上述实施例中给定范围的排列组合式的选择,而是将上述目标阶数和目标零点数作为建立传递函数模型,因而需要获取上述目标阶数和目标零点数。It should be noted that the second system identification is performed in step S3, and the system identification of each group of frequency response data is performed again by the auxiliary variable method, and the selection of the order and the number of zero points for the system identification this time is not based on the above. For the selection of the permutation and combination formula in a given range in the embodiment, the above-mentioned target order and target zero points are used as the establishment of the transfer function model, so it is necessary to obtain the above-mentioned target order and target zero points.
通过上述优化得到的优选的目标阶数和目标零点数,为优选的阶数和零点数,上述步骤S3为通过二者对所有频率响应数据进行系统辨识得到的确定阶数和零点数的传递函数模型。The preferred target order and target zeros obtained through the above optimization are the preferred order and zeros, and the above step S3 is the transfer function of the determined order and zeros obtained by systematically identifying all the frequency response data through the two Model.
可选的,步骤S3中,从第二传递函数模型的集合中选取优选的传递函数模型作为机械传递函数模型,包括:Optionally, in step S3, a preferred transfer function model is selected from the set of second transfer function models as the mechanical transfer function model, including:
步骤S33、获取第二传递函数模型的集合中各个传递函数模型的幅频特性曲线、标准化均方根误差,并根据二者的相似程度选取优选的传递函数模型,其中,相似程度大的传递函数模型为机械传递函数模型G
m(s)。
Step S33, acquiring the amplitude-frequency characteristic curve and the normalized root mean square error of each transfer function model in the set of second transfer function models, and selecting the preferred transfer function model according to the degree of similarity between the two, wherein the transfer function with the greatest degree of similarity is the transfer function model. The model is the mechanical transfer function model G m (s).
选取优选的传递函数模型的方式与上述第一传递函数模型的集合的优化方式一样,在此不再赘述。The method for selecting the preferred transfer function model is the same as the above-mentioned optimization method for the set of the first transfer function model, which is not repeated here.
可选的,步骤S4中,设定电气部分的预设阶数和预设零点数,包括:Optionally, in step S4, the preset order number and the preset zero point number of the electrical part are set, including:
步骤S41、根据电气部分的类型确定电气部分的传递函数模型,获取电气部分的传递函数模型对应的阶数作为预设阶数、对应的零点数作为预设零点数。Step S41 , determining the transfer function model of the electrical part according to the type of the electrical part, and obtaining the order corresponding to the transfer function model of the electrical part as the preset order, and the corresponding zero point number as the preset zero point number.
确定电气部分模型结构,该模型结构为传递函数模型,具体为结合先验知识及对音圈电机电气环节的分析,确定电气部分模型结构。Determine the model structure of the electrical part, which is a transfer function model. Specifically, the model structure of the electrical part is determined by combining the prior knowledge and the analysis of the electrical link of the voice coil motor.
通过上述电气部分的传递函数模型得到阶数和零点数,分别作为预设 阶数和预设零点数。The order and the number of zero points are obtained through the transfer function model of the above electrical part, which are respectively used as the preset order number and the preset number of zero points.
可选的,步骤S4中,对多组预设信号进行系统辨识,建立所述预设阶数、所述预设零点数的第三传递函数模型的集合,从所述第三传递函数模型的集合中选取优选的传递函数模型,作为电气传递函数模型;包括:Optionally, in step S4, system identification is performed on multiple groups of preset signals, and a set of third transfer function models of the preset order and the preset zero points is established, and the third transfer function model is obtained from the third transfer function model. Select the preferred transfer function model from the collection as the electrical transfer function model; including:
步骤S42、以电压信号和输出的位移量分别作为预设信号的输入/输出量,以所述预设信号作为输入/输出数据,使用辅助变量法,建立所述预设阶数、所述预设零点数的第三传递函数模型的集合;Step S42, using the voltage signal and the output displacement as the input/output amount of the preset signal respectively, using the preset signal as the input/output data, and using the auxiliary variable method to establish the preset order, the preset order Set the set of third transfer function models with zero points;
步骤S43、获取所述第三传递函数模型的集合中各个传递函数模型的幅频特性曲线、标准化均方根误差,并根据二者的相似程度选取优选的传递函数模型,其中,所述相似程度大的传递函数模型为所述电气传递函数模型。Step S43, acquiring the amplitude-frequency characteristic curve and the normalized root mean square error of each transfer function model in the third set of transfer function models, and selecting a preferred transfer function model according to the degree of similarity between the two, wherein the degree of similarity The large transfer function model is the electrical transfer function model.
具体地,第三传递函数模型的确定与上述方式相同,利用多组输入值作为预设信号,其中,电压信号可以为正弦信号、随机高斯白噪声信号等。Specifically, the third transfer function model is determined in the same manner as above, using multiple sets of input values as preset signals, wherein the voltage signal may be a sinusoidal signal, a random Gaussian white noise signal, or the like.
可选的,步骤S5中,依据机械传递函数模型和电气传递函数模型得到整体传递函数模型,包括:Optionally, in step S5, the overall transfer function model is obtained according to the mechanical transfer function model and the electrical transfer function model, including:
步骤S51、获取机械传递函数模型和电气传递函数模型,并以此获取六自由度调整转台的整体传递函数模型。Step S51 , obtaining a mechanical transfer function model and an electrical transfer function model, and using this to obtain an overall transfer function model of the six-degree-of-freedom adjustment turntable.
以导出模型和电气部分模型得到整体模型的方法,具体包括以下步骤:The method of obtaining the overall model by exporting the model and the electrical part model, specifically includes the following steps:
获取优选的传递函数模型G
m(s),获取电气部分模型G
e(s);
Obtain the preferred transfer function model G m (s), and obtain the electrical part model Ge (s);
获取整体模型G(s);其中:Get the overall model G(s); where:
G(s)=G
m(s)·G
e(s)
G(s)=G m (s)·G e (s)
G
m(s)为优选的传递函数模型,G
e(s)为电气部分模型。
G m (s) is the preferred transfer function model, and Ge (s) is the electrical part model.
可选的,步骤S5中,根据整体传递函数模型控制得到电机控制器的控制参数,并控制电机控制器依据控制参数控制转台的工作,包括:Optionally, in step S5, control parameters of the motor controller are obtained according to the overall transfer function model control, and the motor controller is controlled to control the work of the turntable according to the control parameters, including:
步骤S53、根据整体传递函数模型控制电机控制器的输出电流,控制电机控制器向音圈电机输出上述输出电流,以控制转台的工作。Step S53: Control the output current of the motor controller according to the overall transfer function model, and control the motor controller to output the above-mentioned output current to the voice coil motor to control the operation of the turntable.
需要说明的是,经过上述整体模型结构的确定,可以依据结构的传递函数控制音圈电机的电机控制器工作,从而依据电机控制器控制上述音圈电机。It should be noted that, after the overall model structure is determined, the motor controller of the voice coil motor can be controlled to work according to the transfer function of the structure, so that the voice coil motor can be controlled according to the motor controller.
具体地,可以对上述整体结构的传递函数模型进行分析,得到传递函数的特性,以此特性来控制电机控制器,电机控制器可以为具有反馈控制的PID控制器,利用电机控制器实现对六自由度调整转台的工作的控制。Specifically, the transfer function model of the above-mentioned overall structure can be analyzed to obtain the characteristics of the transfer function, and the motor controller can be controlled with this characteristic. The motor controller can be a PID controller with feedback control. Degrees of freedom adjust the control of the work of the turntable.
现有技术中的电机控制器的设置通常依据先验数据,或进行笼统的分析。考虑到传递函数模型中的特性得到的电机控制器具有符合六自由度调整转台的特性,因此,参数的设定能够达到精准控制音圈电机的目的,对于具有反馈控制的电机控制器而言,反馈控制参数的精确性的提升,能够更好的提升电机控制器的控制精准性。The setting of the motor controller in the prior art is usually based on a priori data, or a general analysis is performed. Considering the characteristics in the transfer function model, the obtained motor controller has the characteristics of adjusting the turntable with six degrees of freedom. Therefore, the parameter setting can achieve the purpose of accurately controlling the voice coil motor. For the motor controller with feedback control, The improvement of the accuracy of the feedback control parameters can better improve the control accuracy of the motor controller.
可选的,上述对电机控制器进行调整,改变的主要是电机控制器音圈电机输出的电流,也就是说,可以通过改变电机控制器向音圈电机输送的电流,从而实现调整音圈电机的工作状态,使之更加符合当前六自由度调整转台的特性和实际状态。Optionally, the above-mentioned adjustment of the motor controller mainly changes the current output by the voice coil motor of the motor controller, that is to say, the current delivered by the motor controller to the voice coil motor can be changed, so as to realize the adjustment of the voice coil motor. to make it more in line with the characteristics and actual state of the current six-degree-of-freedom adjustment turntable.
上述方法中主要以具有反馈控制的电机控制进行说明,当然,也可以为其他类型的电机控制器,或者对音圈电机的控制形式。In the above method, the motor control with feedback control is mainly used for description. Of course, other types of motor controllers or control forms for voice coil motors are also possible.
本发明将复杂机电系统拆分为机械部分与电气部分,借助ANSYS有限元分析软件,对系统中复杂的机械部分建模,并进行谐响应分析、基于获取的频率响应数据,借助辅助变量法(IV),建立机械部分的系统传递函数模型。对系统中简单的电气部分,基于先验知识确定系统模型结构,直接依据实验数据,使用辅助变量法(IV)建立电气部分的传递函数模型。最后依据系统机械部分与电气部分的传递函数模型,计算系统整体传递函数模型。The invention divides the complex electromechanical system into mechanical parts and electrical parts, and uses ANSYS finite element analysis software to model the complex mechanical parts in the system, and carries out harmonic response analysis, based on the acquired frequency response data, with the help of auxiliary variable method ( IV), establish the system transfer function model of the mechanical part. For the simple electrical part of the system, the system model structure is determined based on prior knowledge, and the transfer function model of the electrical part is established directly based on the experimental data using the auxiliary variable method (IV). Finally, according to the transfer function model of the mechanical part and the electrical part of the system, the overall transfer function model of the system is calculated.
本申请借助有限元分析,建立传递函数模型,降低了系统辨识方法中,确定复杂系统模型结构的难度;为分析结构复杂、输入/输出数据测量困难的系统提供了行之有效的解决方案。The application establishes a transfer function model by means of finite element analysis, which reduces the difficulty of determining the model structure of a complex system in the system identification method, and provides an effective solution for analyzing systems with complex structures and difficult input/output data measurement.
除了上述各个实施例中所提供的六自由度调整转台的控制方法的主要步骤和内在关系,其中包括的传递函数模型的计算和合成方式,以及其他各部分的内容请参考现有技术,本文不再赘述。In addition to the main steps and internal relationships of the control method for the six-degree-of-freedom adjustment turntable provided in the above-mentioned various embodiments, the calculation and synthesis method of the transfer function model included therein, and the contents of other parts, please refer to the prior art, this paper does not Repeat.
本说明书中各个实施例采用递进的方式描述,每个实施例重点说明的都是与其他实施例的不同之处,各个实施例之间相同相似部分互相参见即 可。The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the points that are different from other embodiments, and the same and similar parts between the various embodiments can be referred to each other.
以上对本发明所提供的六自由度调整转台的控制方法进行了详细介绍。本文中应用了具体个例对本发明的原理及实施方式进行了阐述,以上实施例的说明只是用于帮助理解本发明的方法及其核心思想。应当指出,对于本技术领域的普通技术人员来说,在不脱离本发明原理的前提下,还可以对本发明进行若干改进和修饰,这些改进和修饰也落入本发明权利要求的保护范围内。The control method for the six-degree-of-freedom adjustment turntable provided by the present invention has been described in detail above. The principles and implementations of the present invention are described herein by using specific examples, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can also be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.
Claims (9)
- 一种六自由度调整转台的控制方法,应用于六自由度调整转台,所述六自由度调整转台包括转台、音圈电机和电机控制器,其特征在于,所述控制方法包括:A control method for a six-degree-of-freedom adjustment turntable, which is applied to a six-degree-of-freedom adjustment turntable, wherein the six-degree-of-freedom adjustment turntable includes a turntable, a voice coil motor and a motor controller, wherein the control method includes:将所述六自由度调整转台划分为机械部分和电气部分;dividing the six-DOF adjustment turntable into a mechanical part and an electrical part;对所述机械部分进行谐响应分析,以获取不同输入下的N组频率响应数据,对一组所述频率响应数据进行系统辨识,建立不同的阶数-零点数组合的第一传递函数模型的集合,从所述第一传递函数模型的集合中选取优选的传递函数模型并以其阶数作为目标阶数、零点数作为目标零点数;Perform harmonic response analysis on the mechanical part to obtain N groups of frequency response data under different inputs, perform systematic identification on a group of the frequency response data, and establish a first transfer function model of different order-zero number combinations. Set, select the preferred transfer function model from the set of the first transfer function model and use its order as the target order, and the number of zeros as the number of target zeros;对N组所述频率响应数据进行系统辨识,建立所述目标阶数、所述目标零点数的第二传递函数模型的集合,从所述第二传递函数模型的集合中选取优选的传递函数模型作为机械传递函数模型;所述机械传递函数模型为含有参数的传递函数模型;Perform systematic identification on N groups of the frequency response data, establish a set of second transfer function models of the target order and target zero points, and select a preferred transfer function model from the set of second transfer function models as a mechanical transfer function model; the mechanical transfer function model is a transfer function model containing parameters;设定所述电气部分的预设阶数和预设零点数,对多组预设信号进行系统辨识,建立所述预设阶数、所述预设零点数的第三传递函数模型的集合,从所述第三传递函数模型的集合中选取优选的传递函数模型,作为电气传递函数模型;所述电气传递函数模型为含有参数的传递函数模型;Setting the preset order and preset zero points of the electrical part, performing systematic identification on multiple groups of preset signals, and establishing a set of third transfer function models of the preset order and preset zero points, Select a preferred transfer function model from the set of the third transfer function models as an electrical transfer function model; the electrical transfer function model is a transfer function model containing parameters;依据所述机械传递函数模型和所述电气传递函数模型得到整体传递函数模型,根据所述整体传递函数模型控制得到所述电机控制器的控制参数,并控制所述电机控制器依据所述控制参数控制所述转台的工作。Obtaining an overall transfer function model according to the mechanical transfer function model and the electrical transfer function model, obtaining control parameters of the motor controller according to the overall transfer function model, and controlling the motor controller according to the control parameters Control the operation of the turntable.
- 根据权利要求1所述的六自由度调整转台的控制方法,其特征在于,获取不同输入下的N组频率响应数据中的不同输入包括:不同频率或不同施力的大小。The control method for adjusting a turntable with six degrees of freedom according to claim 1, wherein obtaining different inputs in the N groups of frequency response data under different inputs comprises: different frequencies or different magnitudes of applied forces.
- 根据权利要求2所述的六自由度调整转台的控制方法,其特征在于,对一组所述频率响应数据进行系统辨识,建立不同的阶数-零点数组合的第一传递函数模型的集合,包括:The control method for adjusting a turntable with six degrees of freedom according to claim 2, wherein a set of frequency response data is systematically identified, and a set of first transfer function models of different order-zero point combinations is established, include:在N组所述频率响应数据中选择一组所述频率响应数据;selecting a group of the frequency response data from the N groups of the frequency response data;利用辅助变量法对选出的所述频率响应数据进行系统辨识,建立若干个传递函数模型,所述传递函数模型的阶数-零点数的组合不相同,以形成 所述第一传递函数模型的集合。The selected frequency response data is systematically identified by the auxiliary variable method, and several transfer function models are established. gather.
- 根据权利要求3所述的六自由度调整转台的控制方法,其特征在于,从所述第一传递函数模型的集合中选取优选的传递函数模型并确定目标阶数和目标零点数,包括:The control method for adjusting a turntable with six degrees of freedom according to claim 3, wherein selecting a preferred transfer function model from the set of the first transfer function models and determining the target order and target zeros, comprising:获取所述第一传递函数模型的集合中的各个所述传递函数模型的幅频特性曲线、标准化均方根误差,并根据二者的相似程度选取优选的传递函数模型,其中,所述相似程度大的传递函数模型为所述优选的传递函数模型;Obtain the amplitude-frequency characteristic curve and the normalized root mean square error of each of the transfer function models in the set of the first transfer function models, and select a preferred transfer function model according to the degree of similarity between the two, wherein the degree of similarity The large transfer function model is the preferred transfer function model;获取所述优选的传递函数模型的阶数为所述目标阶数,以所述优选的传递函数模型的零点数为所述目标零点数。The order of the preferred transfer function model is obtained as the target order, and the zero point number of the preferred transfer function model is taken as the target zero point number.
- 根据权利要求4所述的六自由度调整转台的控制方法,其特征在于,对N组所述频率响应数据进行系统辨识,建立所述目标阶数、所述目标零点数的第二传递函数模型的集合,包括:The control method for adjusting a turntable with six degrees of freedom according to claim 4, wherein the N groups of the frequency response data are systematically identified, and a second transfer function model of the target order and the target zero points is established. collection, including:利用辅助变量法对每一组所述频率响应数据进行系统辨识;Use the auxiliary variable method to systematically identify each group of the frequency response data;建立若干个以所述目标阶数为阶数、以所述目标零点数为零点数的所述传递函数模型的第二传递函数模型的集合,其中每一个所述传递函数模型的阶数均为所述目标阶数、零点数均为所述目标零点数。Establish a set of second transfer function models of the transfer function model with the target order as the order and the target zero points as zero points, wherein the order of each of the transfer function models is The target order and the number of zero points are both the number of target zero points.
- 根据权利要求1所述的六自由度调整转台的控制方法,其特征在于,从所述第二传递函数模型的集合中选取优选的传递函数模型作为机械传递函数模型,包括:The control method for adjusting a turntable with six degrees of freedom according to claim 1, wherein, selecting a preferred transfer function model from the set of the second transfer function models as the mechanical transfer function model, comprising:获取所述第二传递函数模型的集合中各个传递函数模型的幅频特性曲线、标准化均方根误差,并根据二者的相似程度选取优选的传递函数模型,其中,所述相似程度大的传递函数模型为所述机械传递函数模型。Obtain the amplitude-frequency characteristic curve and the standardized root mean square error of each transfer function model in the set of the second transfer function models, and select the preferred transfer function model according to the degree of similarity between the two, wherein the transfer function model with the largest degree of similarity is selected. The functional model is the mechanical transfer function model.
- 根据权利要求1至6任一项所述的六自由度调整转台的控制方法,其特征在于,设定所述电气部分的预设阶数和预设零点数,包括:The control method for adjusting a turntable with six degrees of freedom according to any one of claims 1 to 6, wherein setting the preset order and preset zero points of the electrical part includes:根据所述电气部分的类型确定所述电气部分的传递函数模型,获取所述电气部分的传递函数模型对应的阶数作为所述预设阶数、对应的零点数作为所述预设零点数。The transfer function model of the electrical part is determined according to the type of the electrical part, and the order corresponding to the transfer function model of the electrical part is obtained as the preset order, and the corresponding zero point number is used as the preset zero point number.
- 根据权利要求7所述的六自由度调整转台的控制方法,其特征在于, 对多组预设信号进行系统辨识,建立所述预设阶数、所述预设零点数的第三传递函数模型的集合,从所述第三传递函数模型的集合中选取优选的传递函数模型,作为电气传递函数模型;包括:The control method for adjusting a turntable with six degrees of freedom according to claim 7, wherein a system identification is performed on a plurality of sets of preset signals, and a third transfer function model of the preset order and the preset zero points is established , select the preferred transfer function model from the set of the third transfer function model, as the electrical transfer function model; including:以电压信号和输出的位移量分别作为预设信号的输入/输出量,以所述预设信号作为输入/输出数据,使用辅助变量法,建立所述预设阶数、所述预设零点数的第三传递函数模型的集合;Taking the voltage signal and the output displacement as the input/output quantities of the preset signal respectively, using the preset signal as the input/output data, and using the auxiliary variable method to establish the preset order number and the preset zero point number A collection of third transfer function models of ;获取所述第三传递函数模型的集合中各个传递函数模型的幅频特性曲线、标准化均方根误差,并根据二者的相似程度选取优选的传递函数模型,其中,所述相似程度大的传递函数模型为所述电气传递函数模型。Obtain the amplitude-frequency characteristic curve and the standardized root mean square error of each transfer function model in the set of the third transfer function model, and select the preferred transfer function model according to the degree of similarity between the two, wherein the transfer function model with the largest degree of similarity is the transfer function model. The functional model is the electrical transfer function model.
- 根据权利要求8所述的六自由度调整转台的控制方法,其特征在于,根据所述整体传递函数模型控制得到所述电机控制器的控制参数,并控制所述电机控制器依据所述控制参数控制所述转台的工作,包括:The control method for adjusting a turntable with six degrees of freedom according to claim 8, wherein the control parameters of the motor controller are obtained according to the overall transfer function model control, and the motor controller is controlled according to the control parameters Control the operation of the turntable, including:根据所述整体传递函数模型控制所述电机控制器的输出电流,控制所述电机控制器向所述音圈电机输出所述输出电流,以控制所述转台的工作。The output current of the motor controller is controlled according to the overall transfer function model, and the motor controller is controlled to output the output current to the voice coil motor, so as to control the operation of the turntable.
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