The invention discloses a gravity compensation vertical subsystem control method based on a slip form face. A gravity compensation vertical subsystem composed of a controller, a sensing unit, an executer and a spring module is provided. A coordinate system is established based on a working principle of the gravity compensation vertical subsystem. The system is modeled through a lagrange equation, a model is simplified, and a simplified spring mass system with the interference, model indeterminancy and outside motivation is obtained. According to the characteristics of the system model, a PID algorithm, a PISS algorithm and a PISST algorithm suitable for different task requirements are given according to the different task requirements. The three algorithms are integrated, algorithm selection is finished by setting parameters of the controller, and a criterion for parameter adjustment of the three algorithms is given. The gravity compensation vertical subsystem control method has the beneficial effects that a tension sensor and a displacement sensor are comprehensively applied, the compensation precision is improved, the comprehensive degree of the controller is high, and parameters are easy to adjust.
Gravity compensation vertical subsystem control method based on slip form face
2015-12-02
Patent
Elektronische Ressource
Englisch
IPC: | B64G Raumfahrt , COSMONAUTICS |
Gravity Probe-B Control Subsystem
NTIS | 1983
|Vertical-Control Subsystem for Automatic Coal Mining
NTRS | 1984
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