摘要
为在试验水池中精确模拟以"波浪谱"描述的海浪不规则波,给出了直接生成造波机运动控制所需的离散时间序列数的计算模型.基于通用计算机的开放式多轴运动控制器设计了电机伺服驱动的模拟不规则波造波控制系统,采用数字比例、积分、微分(PID)及速度前馈控制技术解决了系统所要求的高精度伺服位置控制和多电机同步控制问题,通过对离散时间序列数的样条光顺使伺服电机具有加速度连续的良好运动特性.系统的控制模型以自学习的方法对比反馈的实际波形进行输出位置量的矫正,以获得准确的模拟波浪.
A computing model for a series of discrete time data needed by the motion control of generating wave machine was presented, which can precisely simulate the irregular sea wave described by the wave spectrum. The control system for generating irregular wave was developed based on the open system multi-axis motion controller with the servo motor driver and PC, which successfully solve the high precise servo position control and the multi motor synchronous control problem by using digital PID and velocity feed-forward technology. The servo motor can get perfect motion characteristic by smoothing the series of discrete time data of points through the spline approximation. The control model can adjust the position output by the way of comparing the actual feedback spectrum with the target spectrum to get the simulated wave precisely.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2005年第1期134-137,共4页
Journal of Shanghai Jiaotong University
基金
上海市科学技术发展基金重点项目(021111120)
关键词
造波机
波浪模拟
不规则波
运动控制
Discrete time control systems
Feedback
Motion control
Motion estimation
Servomechanisms
Three term control systems
