本文關(guān)鍵詞：電動(dòng)負(fù)載模擬器的等效分析和消擾策略研究　出處：《北京交通大學(xué)》2016年博士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 電動(dòng)負(fù)載模擬器 電動(dòng)-液壓等效關(guān)系 多余力矩 矢量匹配法 自適應(yīng)線性神經(jīng)網(wǎng)絡(luò)

【摘要】：電動(dòng)負(fù)載模擬器是飛行控制系統(tǒng)半實(shí)物仿真中的重要試驗(yàn)設(shè)備,它的任務(wù)是模擬舵機(jī)在實(shí)際工作過程中受到的氣動(dòng)鉸鏈力矩,實(shí)現(xiàn)對(duì)舵機(jī)系統(tǒng)性能的檢驗(yàn)。本論文以多項(xiàng)實(shí)際工程項(xiàng)目為背景,對(duì)電動(dòng)負(fù)載模擬器的各項(xiàng)關(guān)鍵技術(shù)和理論問題進(jìn)行了研究,并在以下幾個(gè)方面進(jìn)行了開創(chuàng)性的工作。首先,對(duì)比了電動(dòng)和液壓系統(tǒng)的數(shù)學(xué)模型,論證了兩個(gè)系統(tǒng)在宏觀動(dòng)力學(xué)層面上的等效性,并歸納出電動(dòng)和液壓參數(shù)物理意義的等價(jià)關(guān)系。以“電樞電壓”與“負(fù)載流量”的等價(jià)關(guān)系為基礎(chǔ),推導(dǎo)出負(fù)載模擬器的受迫流量(或反電動(dòng)勢(shì))與閥控加載流量(電樞電壓)的比值,即被動(dòng)-主動(dòng)流量比,該比值是比較電動(dòng)與電液負(fù)載模擬器綜合性能的重要依據(jù)。其次,簡(jiǎn)化了電動(dòng)負(fù)載模擬器的傳遞函數(shù),得到了其動(dòng)態(tài)響應(yīng)性能參數(shù)的解析表達(dá)式,明確了電機(jī)參數(shù)對(duì)系統(tǒng)增益、頻寬和阻尼比的影響,該結(jié)論為電動(dòng)負(fù)載模擬器的設(shè)計(jì)提供了更具針對(duì)性的理論依據(jù)。在此基礎(chǔ)上,建立了完整的電動(dòng)負(fù)載模擬器數(shù)學(xué)模型,提出了加載系統(tǒng)穩(wěn)定裕度和“雙十”頻寬的調(diào)節(jié)方法。再次,繪制了位置擾動(dòng)作用的頻率響應(yīng)特性伯德圖,通過對(duì)特性曲線增益、斜率的分析研究,說明了電動(dòng)負(fù)載模擬器的多余力矩本質(zhì)上是由綜合摩擦負(fù)載、慣性負(fù)載和彈性位置負(fù)載疊加而成的。對(duì)位置擾動(dòng)信號(hào)和多余力矩信號(hào)做頻譜分析,得到了位置擾動(dòng)的實(shí)際動(dòng)態(tài)響應(yīng)特性。試驗(yàn)結(jié)果與數(shù)學(xué)模型相吻合,證明了理論分析的正確性。然后,在電動(dòng)負(fù)載模擬器輸出力矩服從線性疊加原理的前提下,提出了以矢量匹配關(guān)系為基礎(chǔ)的消擾策略。并針對(duì)舵機(jī)運(yùn)動(dòng)規(guī)律的周期性特點(diǎn),提出了可統(tǒng)稱為“基于矢量匹配的位置擾動(dòng)力矩消除方法”的“單矢量匹配法”和“復(fù)矢量匹配法”。其中,前者主要用于抑制正弦型的位置擾動(dòng),后者則可抑制更普遍的周期性位置擾動(dòng),是對(duì)前者的拓展。以上方法均得到了試驗(yàn)驗(yàn)證,試驗(yàn)結(jié)果說明矢量匹配法不但能夠消除由位置擾動(dòng)引起的多余力矩,還能夠補(bǔ)償由加載系統(tǒng)相位滯后引起的加載誤差,從根本上提高負(fù)載模擬器的動(dòng)態(tài)加載精度。最后,設(shè)計(jì)了絕緣聯(lián)軸器,實(shí)現(xiàn)了對(duì)軸承電壓耦合通道的阻斷,提高了傳感器信號(hào)的信噪比。在深入研究fidrow-Hoff網(wǎng)絡(luò)的基礎(chǔ)上,提出了一種改進(jìn)的自適應(yīng)線性神經(jīng)網(wǎng)絡(luò)(RLS-ADALINE)。通過對(duì)比研究,證明了由RLS-ADALINE網(wǎng)絡(luò)設(shè)計(jì)的濾波器具有更好的濾波效果。針對(duì)測(cè)量速度和加速度的實(shí)際需要,提出了一種新的正弦激勵(lì)法,提高了傳感器的標(biāo)定效率和測(cè)量精度。
[Abstract]:The electric load simulator is an important test equipment in hardware in the loop simulation of flight control system. Its task is to simulate the aerodynamic hinge moment of the steering engine in the actual working process, so as to test the performance of the steering system. Based on many practical engineering projects, this paper studies the key technologies and theoretical problems of the electric load simulator, and has done pioneering work in the following aspects. First, we compare the mathematical models of electric and hydraulic systems, demonstrate the equivalence of the two systems at the macro kinetics level, and conclude the equivalent relations between the electric and hydraulic parameters physical meaning. The equivalence between the armature voltage and load flow based load simulator is derived by forced flow (or EMF) and the valve controlled load flow (i.e. the ratio of the armature voltage), passive active flow ratio, the ratio is an important basis for the comprehensive performance of the simulator is electric and electrohydraulic load the. Secondly, the simplified transfer function of the electric load simulator, the analytical expression of performance parameters of its dynamic response is obtained, the motor parameters affect the system gain, bandwidth and damping ratio, the conclusion provides more evidence for the theory for the design of electric load simulator. On this basis, a complete mathematical model of electric load simulator, and puts forward the method of adjusting loading system stability margin and "ten" bandwidth. Thirdly, the frequency response characteristic of position disturbance is plotted. By analyzing the gain and slope of the characteristic curve, it is shown that the redundant torque of the electric load simulator is essentially made up of the comprehensive friction load, the inertia load and the elastic position load. The actual dynamic response characteristics of the position disturbance are obtained by analyzing the frequency spectrum of the position disturbance signal and the superfluous moment signal. The result of the test is in agreement with the mathematical model, which proves the correctness of the theoretical analysis. Then, on the premise of the linear superposition principle of the output torque of the electric load simulator, the suppression strategy based on the vector matching relationship is proposed. According to the periodic characteristics of rudder motion law, a single vector matching method and complex vector matching method which can be collectively referred to as "position disturbance torque elimination method based on vector matching" are put forward. The former is mainly used to restrain the position disturbance of the sine type, and the latter can restrain the more universal periodic position disturbance, which is the expansion of the former. The above methods have been verified by experiments. The experimental results show that vector matching method can not only eliminate the redundant torque caused by location disturbance, but also compensate for the loading error caused by the phase lag of the loading system, which fundamentally improves the dynamic loading accuracy of load simulator. Finally, the insulation coupling is designed to block the coupling channel of the bearing voltage and improve the signal to noise ratio of the sensor signal. Based on the in-depth study of fidrow-Hoff network, an improved adaptive linear neural network (RLS-ADALINE) is proposed. Through comparative study, it is proved that the filter designed by RLS-ADALINE network has better filtering effect. A new sinusoidal excitation method is proposed to improve the calibration efficiency and measurement accuracy of the sensor for the actual needs of measuring speed and acceleration.
【學(xué)位授予單位】：北京交通大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：V216.8

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