电动缸举升机构伺服性能的亚全局并行优化设计
2024,46(5):65-78
万子平
国防科技大学 智能科学学院, 湖南 长沙 410073，wanziping15@163.com,fdp@nudt.edu.cn
谢馨
国防科技大学 智能科学学院, 湖南 长沙 410073
任广安
国防科技大学 智能科学学院, 湖南 长沙 410073
郑杰基
国防科技大学 智能科学学院, 湖南 长沙 410073
范大鹏
国防科技大学 智能科学学院, 湖南 长沙 410073，wanziping15@163.com,fdp@nudt.edu.cn
国防科技大学 智能科学学院, 湖南 长沙 410073，wanziping15@163.com,fdp@nudt.edu.cn
谢馨
国防科技大学 智能科学学院, 湖南 长沙 410073
任广安
国防科技大学 智能科学学院, 湖南 长沙 410073
郑杰基
国防科技大学 智能科学学院, 湖南 长沙 410073
范大鹏
国防科技大学 智能科学学院, 湖南 长沙 410073，wanziping15@163.com,fdp@nudt.edu.cn
摘要：
针对电动缸举升伺服机构的非线性环节对武器站伺服性能的影响,基于应用背景开展了伺服性能优化方法的研究。针对可设计非线性环节中的增益波动、间隙宽度、不平衡力矩和摩擦力矩进行了作用机理分析；基于机构布局和控制器参数建立了运动学、动力学和控制策略的数学模型、设计约束和目标优化函数；提出了亚全局并行优化方法,对可设计非线性环节进行了基于内点法的多目标优化,解决了局部串行优化的局部最优问题；对基于PI控制器+DOB观测器的复合控制策略进行了单独设计,解决了机械惯量参数、控制器参数和观测器名义模型不匹配的问题。经验证,亚全局并行优化方法的优化结果在整体上更佳,且更加贴合工程实际。
针对电动缸举升伺服机构的非线性环节对武器站伺服性能的影响,基于应用背景开展了伺服性能优化方法的研究。针对可设计非线性环节中的增益波动、间隙宽度、不平衡力矩和摩擦力矩进行了作用机理分析；基于机构布局和控制器参数建立了运动学、动力学和控制策略的数学模型、设计约束和目标优化函数；提出了亚全局并行优化方法,对可设计非线性环节进行了基于内点法的多目标优化,解决了局部串行优化的局部最优问题；对基于PI控制器+DOB观测器的复合控制策略进行了单独设计,解决了机械惯量参数、控制器参数和观测器名义模型不匹配的问题。经验证,亚全局并行优化方法的优化结果在整体上更佳,且更加贴合工程实际。
基金项目：
国家重点研发计划资助项目(2019YFB2004700)；国家自然科学基金资助项目(52105077)
国家重点研发计划资助项目(2019YFB2004700)；国家自然科学基金资助项目(52105077)
Sub-global parallel optimization design of servo performance of electric cylinder lifting mechanism
WAN Ziping
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China,wanziping15@163.com,fdp@nudt.edu.cn
XIE Xin
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
REN Guang′an
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
ZHENG Jieji
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
FAN Dapeng
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China,wanziping15@163.com,fdp@nudt.edu.cn
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China,wanziping15@163.com,fdp@nudt.edu.cn
XIE Xin
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
REN Guang′an
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
ZHENG Jieji
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
FAN Dapeng
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China,wanziping15@163.com,fdp@nudt.edu.cn
Abstract：
Aiming at the influence of the nonlinear part of the electric cylinder lifting servo mechanism on the servo performance of the weapon station, the optimization method of servo performance was studied based on the application background. The mechanism of gain fluctuation, gap width, unbalanced moment, and friction moment in the designable nonlinear part was analyzed. The mathematical models, design constraints, and objective optimization functions of kinematics, dynamics, and control strategies were established based on the mechanism layout and controller parameters. A sub-global parallel optimization method was proposed. The multi-objective optimization based on the interior point method was carried out for the designable nonlinear part, and the local optimization problem of local serial optimization was solved. The composite control strategy based on PI controller + DOB observer was designed separately, and the mismatch between the mechanical inertia parameters, controller parameters, and observer nominal model was solved. It is verified that the optimization results of the sub-global parallel optimization method are better on the whole and more in line with the engineering practice.
Aiming at the influence of the nonlinear part of the electric cylinder lifting servo mechanism on the servo performance of the weapon station, the optimization method of servo performance was studied based on the application background. The mechanism of gain fluctuation, gap width, unbalanced moment, and friction moment in the designable nonlinear part was analyzed. The mathematical models, design constraints, and objective optimization functions of kinematics, dynamics, and control strategies were established based on the mechanism layout and controller parameters. A sub-global parallel optimization method was proposed. The multi-objective optimization based on the interior point method was carried out for the designable nonlinear part, and the local optimization problem of local serial optimization was solved. The composite control strategy based on PI controller + DOB observer was designed separately, and the mismatch between the mechanical inertia parameters, controller parameters, and observer nominal model was solved. It is verified that the optimization results of the sub-global parallel optimization method are better on the whole and more in line with the engineering practice.
收稿日期：
2022-05-06
2022-05-06
