本文選題：負(fù)載模擬器 + 多余力矩　； 參考：《哈爾濱工業(yè)大學(xué)》2015年碩士論文

【摘要】：飛行器負(fù)載力矩模擬器是一種被動式的力矩或力控制設(shè)備,能夠以較高精度模擬各種復(fù)雜的、甚至是快速變化的力矩或力函數(shù)。利用負(fù)載力矩模擬器即可進(jìn)行導(dǎo)彈、飛機(jī)等飛行器舵機(jī)系統(tǒng)的地面模擬試驗(yàn)。這樣在實(shí)驗(yàn)室內(nèi)便可模擬出飛行器真實(shí)航行的狀態(tài),模擬飛行器在飛行時(shí)的受力情況,可見模擬試驗(yàn)相比實(shí)彈試驗(yàn)大大節(jié)省了研制周期和成本。但在傳統(tǒng)負(fù)載模擬器結(jié)構(gòu)中,加載電機(jī)直接驅(qū)動承載舵機(jī),因此舵機(jī)的轉(zhuǎn)動勢必會對加載電機(jī)造成擾動,從而帶來多余力矩問題。所以如何通過結(jié)構(gòu)和控制上的優(yōu)化消除或部分消除多余力矩,對于負(fù)載模擬器的設(shè)計(jì)和研制具有重要意義。本文在研究國內(nèi)外負(fù)載力矩模擬器的發(fā)展過程與研究現(xiàn)狀的基礎(chǔ)上,利用加載電機(jī)不直接驅(qū)動承載舵機(jī)的思想,提出了新型無多余力矩負(fù)載力矩模擬器的三種結(jié)構(gòu)方案,并結(jié)合動力學(xué)建模、彈道仿真、不確定度分析等環(huán)節(jié)對三種結(jié)構(gòu)方案進(jìn)行可行性分析以及各方面優(yōu)缺點(diǎn)比較。論文的研究內(nèi)容主要圍繞以下六方面展開:各方案運(yùn)動學(xué)原理,初步分析各方案的可行性;建立各方案動力學(xué)模型,使用Matlab和Adams軟件對負(fù)載模擬器進(jìn)行動力學(xué)仿真分析;針對典型的力矩函數(shù),使用Matlab軟件進(jìn)行彈道仿真,以復(fù)現(xiàn)飛行器航行時(shí)所受力矩;以動力學(xué)模型為基礎(chǔ),對負(fù)載模擬器進(jìn)行不確定度分析,得到各個方案輸出力矩的誤差數(shù)據(jù);從運(yùn)動學(xué)、動力學(xué)和精度方面分析方案可行性;綜合比較三種方案在結(jié)構(gòu)緊湊性及合理性、精度、信號傳輸穩(wěn)定性等方面的優(yōu)劣。本文完成了負(fù)載力矩模擬器三種結(jié)構(gòu)方案的建模、仿真和不確定分析,得到了可靠的動力學(xué)模型和誤差指標(biāo),對確定結(jié)構(gòu)參數(shù)、如何繼續(xù)優(yōu)化結(jié)構(gòu)、如何進(jìn)一步提高系統(tǒng)跟蹤精度具有重要的指導(dǎo)意義。
[Abstract]:Aircraft load torque simulator is a passive torque or force control equipment, which can simulate all kinds of complicated, even rapidly changing torque or force functions with high precision. The ground simulation test of missile, aircraft and other aircraft steering system can be carried out by using load moment simulator. In this way, the real flight state of the aircraft can be simulated in the laboratory, and the force situation of the aircraft in flight can be simulated. It can be seen that the simulation test greatly saves the development cycle and the cost compared with the live ammunition test. However, in the traditional load simulator structure, the loading motor drives the steering gear directly, so the rotation of the steering gear will inevitably cause disturbance to the loading motor and bring about the problem of redundant torque. Therefore, how to eliminate or partially eliminate redundant torque through optimization of structure and control is of great significance to the design and development of load simulator. On the basis of studying the development process and research status of load torque simulator at home and abroad, this paper puts forward three kinds of structure schemes of new load torque simulator without redundant torque by using the idea that load motor does not drive load steering gear directly. Combined with dynamics modeling, trajectory simulation and uncertainty analysis, the feasibility analysis and advantages and disadvantages of the three structural schemes are analyzed. The main contents of this paper are as follows: kinematics principle of each scheme, preliminary analysis of feasibility of each scheme, establishment of dynamic model of each scheme, dynamic simulation analysis of load simulator using Matlab and Adams software; Aiming at the typical moment function, the trajectory simulation is carried out by using Matlab software, and the moment received during the flight of the aircraft is reproduced, the uncertainty of the load simulator is analyzed on the basis of the dynamic model, and the error data of the output moment of each scheme are obtained. The feasibility of the scheme is analyzed from the aspects of kinematics, dynamics and accuracy, and the advantages and disadvantages of the three schemes in terms of structure compactness and rationality, accuracy and signal transmission stability are comprehensively compared. In this paper, the modeling, simulation and uncertainty analysis of three structural schemes of load torque simulator are completed, and the reliable dynamic model and error index are obtained. How to further improve the tracking accuracy of the system has an important guiding significance.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：V216.8

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本文編號：2022284