本文關鍵詞：電動負載模擬器的等效分析和消擾策略研究　出處：《北京交通大學》2016年博士論文　論文類型：學位論文

  更多相關文章： 電動負載模擬器 電動-液壓等效關系 多余力矩 矢量匹配法 自適應線性神經網絡

【摘要】：電動負載模擬器是飛行控制系統(tǒng)半實物仿真中的重要試驗設備,它的任務是模擬舵機在實際工作過程中受到的氣動鉸鏈力矩,實現(xiàn)對舵機系統(tǒng)性能的檢驗。本論文以多項實際工程項目為背景,對電動負載模擬器的各項關鍵技術和理論問題進行了研究,并在以下幾個方面進行了開創(chuàng)性的工作。首先,對比了電動和液壓系統(tǒng)的數學模型,論證了兩個系統(tǒng)在宏觀動力學層面上的等效性,并歸納出電動和液壓參數物理意義的等價關系。以“電樞電壓”與“負載流量”的等價關系為基礎,推導出負載模擬器的受迫流量(或反電動勢)與閥控加載流量(電樞電壓)的比值,即被動-主動流量比,該比值是比較電動與電液負載模擬器綜合性能的重要依據。其次,簡化了電動負載模擬器的傳遞函數,得到了其動態(tài)響應性能參數的解析表達式,明確了電機參數對系統(tǒng)增益、頻寬和阻尼比的影響,該結論為電動負載模擬器的設計提供了更具針對性的理論依據。在此基礎上,建立了完整的電動負載模擬器數學模型,提出了加載系統(tǒng)穩(wěn)定裕度和“雙十”頻寬的調節(jié)方法。再次,繪制了位置擾動作用的頻率響應特性伯德圖,通過對特性曲線增益、斜率的分析研究,說明了電動負載模擬器的多余力矩本質上是由綜合摩擦負載、慣性負載和彈性位置負載疊加而成的。對位置擾動信號和多余力矩信號做頻譜分析,得到了位置擾動的實際動態(tài)響應特性。試驗結果與數學模型相吻合,證明了理論分析的正確性。然后,在電動負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系為基礎的消擾策略。并針對舵機運動規(guī)律的周期性特點,提出了可統(tǒng)稱為“基于矢量匹配的位置擾動力矩消除方法”的“單矢量匹配法”和“復矢量匹配法”。其中,前者主要用于抑制正弦型的位置擾動,后者則可抑制更普遍的周期性位置擾動,是對前者的拓展。以上方法均得到了試驗驗證,試驗結果說明矢量匹配法不但能夠消除由位置擾動引起的多余力矩,還能夠補償由加載系統(tǒng)相位滯后引起的加載誤差,從根本上提高負載模擬器的動態(tài)加載精度。最后,設計了絕緣聯(lián)軸器,實現(xiàn)了對軸承電壓耦合通道的阻斷,提高了傳感器信號的信噪比。在深入研究fidrow-Hoff網絡的基礎上,提出了一種改進的自適應線性神經網絡(RLS-ADALINE)。通過對比研究,證明了由RLS-ADALINE網絡設計的濾波器具有更好的濾波效果。針對測量速度和加速度的實際需要,提出了一種新的正弦激勵法,提高了傳感器的標定效率和測量精度。
[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.
【學位授予單位】：北京交通大學
【學位級別】：博士
【學位授予年份】：2016
【分類號】：V216.8

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