电动振动台建模和速度估计的实验研究

摘要

In order to achieve high-precision vibration output force tracking control of the electric shaking table, the mathematical model and velocity estimation method of the vibration test experiment system drived by AC servo motor are researched.In this research,the dynamic model of the system is obtained by using recursive least squares method.The three parameter controller, which is based on output force, displacement and speed, is used as the control algorithm. Because of the lack of effective sensor,the velocity signal of the three parameters feedback signal is estimated by the Kalman filter based on acceleration and displacement feedback signals in order to overcome the quantization noise generated by direct displacement difference.The experimental system is designed based on TwinCAT real time control software.The experimental results show that the Kalman filter theory can effectively eliminate the quantization noise.%为实现电动振动台振动输出力的高精度跟随控制,对电动振动测试实验系统的数学模型和速度估计方法进行实验研究.运用机理法建立了系统数学模型,并通过递推最小二乘法算法辨识出模型中的未知参数.采用基于输出力、位移和速度的三参量控制器作为控制算法.由于速度信号缺乏有效的传感元件,采用基于加速度和位移的卡尔曼滤波器来估计三参量反馈信号中的速度信号,以此克服直接用位移差分获得速度信号所产生的量化噪声.构建以TwinCAT实时控制软件为基础的振动输出力跟随控制实验系统,实验结果证明采用卡尔曼滤波器能有效消除系统的量化噪声.