【摘要】：電液伺服動(dòng)態(tài)加載系統(tǒng)是實(shí)驗(yàn)室里模擬飛行器發(fā)射和飛行過程中受到各種動(dòng)力載荷的關(guān)鍵設(shè)備,許多情況下,這類系統(tǒng)的負(fù)載可以簡化為一個(gè)具有單自由度的倒立單擺,由于單擺負(fù)載的主動(dòng)運(yùn)動(dòng)對(duì)加載系統(tǒng)帶來強(qiáng)烈的位置擾動(dòng),產(chǎn)生多余力,造成加載系統(tǒng)輸出力不準(zhǔn)確,如果不能有效地抑制多余力的影響,就會(huì)導(dǎo)致加載系統(tǒng)跟蹤性能下降,不能實(shí)現(xiàn)對(duì)載荷譜的點(diǎn)點(diǎn)跟蹤。 本文采用理論分析和數(shù)值仿真相結(jié)合的研究方法,對(duì)單擺負(fù)載加載系統(tǒng)產(chǎn)生多余力的過程、機(jī)理以及抑制方法做了深入的研究和討論。介紹了單擺負(fù)載電液伺服動(dòng)態(tài)加載系統(tǒng)的基本結(jié)構(gòu)和工作原理,分析了單擺負(fù)載的運(yùn)動(dòng)規(guī)律,建立了整個(gè)系統(tǒng)的數(shù)學(xué)模型�？紤]到單擺負(fù)載支撐處的非線性因素,詳細(xì)分析了單擺負(fù)載中的摩擦非線性對(duì)加載系統(tǒng)的影響。根據(jù)多余力的產(chǎn)生過程和產(chǎn)生機(jī)理,尋找相應(yīng)的補(bǔ)償措施來抑制多余力,從硬件結(jié)構(gòu)補(bǔ)償出發(fā),提出了雙閥并聯(lián)的方式來消除多余力,使動(dòng)態(tài)加載系統(tǒng)近似工作在靜態(tài)加載情況下；由于單擺負(fù)載的位置系統(tǒng)與加載系統(tǒng)之間存在著相互耦合關(guān)系,提出了雙微分結(jié)構(gòu)解耦補(bǔ)償控制來減小多余力的方法,通過理論分析在整個(gè)系統(tǒng)中設(shè)計(jì)了兩個(gè)微分補(bǔ)償環(huán)節(jié),最大限度的消除多余力；根據(jù)具體的動(dòng)態(tài)加載性能指標(biāo),設(shè)計(jì)可進(jìn)行無擾加載、多余力測試、雙閥并聯(lián)測試和雙微分結(jié)構(gòu)解耦補(bǔ)償控制測試的試驗(yàn)系統(tǒng),選取和設(shè)計(jì)試驗(yàn)系統(tǒng)中的液壓元件和控制系統(tǒng)的電氣硬件,設(shè)計(jì)試驗(yàn)系統(tǒng)的測控軟件部分,提出了運(yùn)用MATLAB RTW中xPC Target方式實(shí)現(xiàn)單擺負(fù)載電液伺服動(dòng)態(tài)加載系統(tǒng)的實(shí)時(shí)仿真任務(wù)。 MATLAB仿真結(jié)果表明,加入摩擦模型嚴(yán)重影響加載系統(tǒng)跟蹤性能,其中幅值衰減超過30%,加入準(zhǔn)積分補(bǔ)償環(huán)節(jié)能夠極大地減小了幅值衰減,使其小于3%,隨著摩擦偏移值增大10倍,摩擦非線性對(duì)加載系統(tǒng)的跟蹤性能影響更大；在單擺負(fù)載驅(qū)動(dòng)頻率和加載頻率為10HZ時(shí),雙閥并聯(lián)補(bǔ)償方案很好的滿足加載系統(tǒng)的雙十指標(biāo),產(chǎn)生的多余力小于給定輸入的10%,雙微分結(jié)構(gòu)解耦補(bǔ)償控制策略仿真表明,多余力從原來的±22N左右減小到±4N左右,跟蹤性能指標(biāo)也滿足動(dòng)態(tài)加載系統(tǒng)的雙十性能指標(biāo)。
[Abstract]:The electro-hydraulic servo dynamic loading system is the key equipment in the laboratory to simulate all kinds of dynamic loads during the launch and flight of an aircraft. In many cases, the load of this kind of system can be simplified as an inverted pendulum with a single degree of freedom. Because the active movement of single pendulum load brings strong position disturbance to the loading system and produces more Yu Li, the output force of the loading system is inaccurate. If the influence of redundant force can not be suppressed effectively, the tracking performance of the loading system will decline. The point tracking of load spectrum can not be realized. In this paper, the theoretical analysis and numerical simulation are used to study and discuss deeply the process, mechanism and suppression methods of generating multiple Yu Li in a single pendulum loading system. This paper introduces the basic structure and working principle of electro-hydraulic servo dynamic loading system with single pendulum load, analyzes the movement law of single pendulum load, and establishes the mathematical model of the whole system. Considering the nonlinear factors in the support of a single pendulum load, the effect of friction nonlinearity on the loading system is analyzed in detail. According to the generation process and mechanism of redundant force, the corresponding compensation measures are found to suppress the redundant force. Based on the hardware structure compensation, the method of double valve parallel connection is put forward to eliminate the redundant force. The dynamic loading system is approximately operated under static loading. Due to the coupling relationship between the position system and the loading system of a single pendulum load, a double differential structure decoupling compensation control is proposed to reduce the redundant force. Through the theoretical analysis, two differential compensation links are designed in the whole system to eliminate redundant force to the maximum extent, according to the specific dynamic loading performance index, the design can carry on the non-disturbance loading, the multi-Yu Li test, The test system of double valve parallel connection test and double differential structure decoupling compensation control test is selected and designed. The hydraulic components in the test system and the electrical hardware of the control system are selected and designed. The measurement and control software part of the test system is designed. The real-time simulation task of single pendulum load electro-hydraulic servo dynamic loading system using xPC Target in MATLAB RTW is proposed. The MATLAB simulation results show that adding friction model seriously affects the tracking performance of loading system. The amplitude attenuation is more than 30, and the amplitude attenuation can be greatly reduced by adding the quasi integral compensation link, which makes the amplitude attenuation less than 3. With the increase of the friction offset value by 10 times, the friction nonlinearity has a greater impact on the tracking performance of the loading system. When the load driving frequency and loading frequency of single pendulum are 10HZ, the double valve parallel compensation scheme can well satisfy the double ten index of the loading system, and the redundant force generated is less than 10% of the given input. The simulation results of the decoupling compensation control strategy of the double differential structure show that, More Yu Li is reduced from 鹵22N to 鹵4N, and the tracking performance index also meets the double ten performance index of the dynamic loading system.
【學(xué)位授予單位】：蘭州理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2013
【分類號(hào)】：TH137.7;TP273

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 王曉東;焦宗夏;謝劭辰;;基于LuGre模型的電液加載系統(tǒng)摩擦補(bǔ)償[J];北京航空航天大學(xué)學(xué)報(bào);2008年11期

2 姚建勇;焦宗夏;;改進(jìn)型LuGre模型的負(fù)載模擬器摩擦補(bǔ)償[J];北京航空航天大學(xué)學(xué)報(bào);2010年07期

3 蘇東海,吳盛林,付興武,劉慶和;利用基于同步補(bǔ)償?shù)慕撬俣炔钪悼朔嘤嗔豙J];哈爾濱工業(yè)大學(xué)學(xué)報(bào);2000年01期

4 裴忠才,吳盛林,蘇東海,劉慶和;連接剛度對(duì)電液負(fù)載仿真臺(tái)的影響[J];哈爾濱工業(yè)大學(xué)學(xué)報(bào);1997年05期

5 李閣強(qiáng);趙克定;袁銳波;張彪;;μ理論在電液負(fù)載模擬器中的應(yīng)用[J];航空學(xué)報(bào);2007年01期

6 王新民;劉衛(wèi)國;;電液伺服加載的神經(jīng)網(wǎng)絡(luò)內(nèi)部反饋控制[J];航空學(xué)報(bào);2007年03期

7 張彪;趙克定;孫豐迎;;電液負(fù)載模擬器的神經(jīng)網(wǎng)絡(luò)參數(shù)辨識(shí)[J];航空學(xué)報(bào);2009年02期

8 李運(yùn)華,焦宗夏,王占林;舵機(jī)力矩負(fù)載模擬器的混合控制方法研究[J];航空學(xué)報(bào);1998年S1期

9 陳恒權(quán);;用同步反向法克服多余力[J];機(jī)床與液壓;1985年03期

10 裴忠才,于慈遠(yuǎn),吳盛林,劉慶和;連通孔在電液負(fù)載模擬器中的應(yīng)用[J];機(jī)床與液壓;1997年03期

相關(guān)博士學(xué)位論文 前2條

1 方強(qiáng);被動(dòng)式力矩伺服控制系統(tǒng)設(shè)計(jì)方法及應(yīng)用研究[D];哈爾濱工業(yè)大學(xué);2006年

2 張彪;電液負(fù)載模擬器多余力矩抑制及其反步自適應(yīng)控制研究[D];哈爾濱工業(yè)大學(xué);2009年

相關(guān)碩士學(xué)位論文 前1條

1 劉時(shí)鵬;MATLAB環(huán)境下直線單級(jí)倒立擺系統(tǒng)實(shí)時(shí)控制實(shí)驗(yàn)的研究與設(shè)計(jì)[D];重慶大學(xué);2004年

，

本文編號(hào)：2225960