变质量俯仰系统随载荷质量和俯仰角位移的变化，其俯仰体质心位置随之变化，进而其驱动转矩等因素也随之变化。为设计变质量俯仰系统的自适应控制策略，提出了俯仰机构驱动电机的分区间PID控制方法。以位置随动精度和随动时间为目标，设计了位置环三区间PID控制方法。基于ADAMS与Simulink联合仿真技术，建立了变质量俯仰系统虚拟样机模型。通过仿真与物理样机试验，对比分析经典PID和分区间PID控制算法的位置控制准确性和快速性。研究结果表明，分区间PID控制算法在规定响应时间范围内，误差精度不超过0.5°，能有效提高变质量俯仰系统的控制精度。
The variable mass pitching systems along with load quality and its pitch angle displacement,and the same as its position of the center of the pitching and driving torque changes etc..To design the adaptive control strategy, we put forward the inter-partition PID control algorithm for the driven motor of the luffing mechanism.To design the adaptive control strategy, we put forward the inter-partition PID control algorithm for the driven motor of the luffing mechanism.To position servo precision and follow-up time as the goal, according to the pitch rate feedback, three interval PID control algorithm is designed. Based on ADAMS and Simulink simulation technology, we established the virtual prototype model of variable quality pitching system.Through simulation and physical prototype test, the classical PID and the inter-partition PID control algorithm are compared and analyzed by the position control accuracy and rapidity.The results show that, within the scope of the regulation response time, the error precision is less than 0.5°, the inter-partition PID control algorithm can effectively improve the control accuracy of the variable mass pitching system.
2017,39(4): 116-121 收稿日期：2016-08-03
DOI：10.3404/j.issn.1672-7619.2017.04.023
分类号：TJ391
作者简介：方子帆(1963-),男,教授,研究方向为机械系统动力学与控制。
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