【摘要】：本文主要研究控制風(fēng)洞試驗(yàn)?zāi)Ｐ椭螜C(jī)構(gòu)的液壓伺服系統(tǒng)，實(shí)現(xiàn)模型姿態(tài)精確定位，將現(xiàn)有系統(tǒng)由傳統(tǒng)的模型姿態(tài)角階梯定點(diǎn)吹風(fēng)試驗(yàn)數(shù)據(jù)采集方式逐步向連續(xù)變姿態(tài)角連續(xù)采集數(shù)據(jù)方向發(fā)展，提高采集數(shù)據(jù)效率，豐富獲得的吹風(fēng)試驗(yàn)數(shù)據(jù)和信息。 對(duì)風(fēng)洞的概念以及風(fēng)洞的主要組成部分、風(fēng)洞實(shí)驗(yàn)中的尾腹撐機(jī)構(gòu)裝置的組成以及相關(guān)工作原理、風(fēng)洞試驗(yàn)中電液伺服控制技術(shù)、電液伺服閥的工作原理以及分類、閥控液壓油缸的工作原理、液壓系統(tǒng)仿真軟件技術(shù)等進(jìn)行學(xué)習(xí)和研究，對(duì)在摩擦動(dòng)力的情況下液壓伺服油缸動(dòng)力學(xué)模型的建立和液壓伺服油缸的控制技術(shù)進(jìn)行了深入的介紹，并分析了當(dāng)前國(guó)內(nèi)外針對(duì)伺服油缸速度非線性位置高精度控制的研究現(xiàn)狀。 提出了單液壓油缸控制算法，并詳細(xì)闡明了其計(jì)算模型與實(shí)現(xiàn)方法，以桿支撐機(jī)構(gòu)電液伺服系統(tǒng)為例開(kāi)展的仿真研究與試驗(yàn)研究結(jié)果表明速度前饋和位置反饋復(fù)合控制策略是有效實(shí)現(xiàn)油缸位置和非線性速度的精確控制的有力手段，即在位置反饋的基礎(chǔ)上，增加速度前饋控制，將期望速度對(duì)應(yīng)的控制信號(hào)疊加在伺服閥控制信號(hào)上。該方法的基本思想如下：在動(dòng)態(tài)運(yùn)行過(guò)程中，速度前饋起主要作用，控制油缸運(yùn)行速度，使其跟隨期望速度曲線；在期望位置附近，位置閉環(huán)起主要作用，，保證位置控制精度，且抑制外部擾動(dòng)。實(shí)現(xiàn)了單自由度液壓伺服系統(tǒng)在變載荷條件下非線性速度曲線高精度動(dòng)態(tài)控制，速度控制精度優(yōu)于0.5%。 建了雙液壓油缸聯(lián)動(dòng)控制實(shí)驗(yàn)平臺(tái)，并在單液壓伺服油缸非線性速度和高精度位置控制的基礎(chǔ)上對(duì)雙液壓油缸高精度聯(lián)動(dòng)控制技術(shù)和兩級(jí)伺服油缸的聯(lián)動(dòng)控制技術(shù)進(jìn)行深入研究，仿真和實(shí)驗(yàn)結(jié)果證明了速度位置復(fù)合控制策略和虛擬主軸控制方法在液壓軸非線性高精度聯(lián)動(dòng)控制方面的有效性，證明了兩級(jí)伺服油缸的一級(jí)和二級(jí)可以跟隨“虛擬主軸”實(shí)現(xiàn)高精度聯(lián)動(dòng)控制。實(shí)現(xiàn)了串聯(lián)液壓伺服油缸非線性速度高精度合成和定位方法控制研究，速度控制精度優(yōu)于0.5%，定位精度優(yōu)于0.05mm。
[Abstract]:This paper mainly studies the hydraulic servo system which controls the model support mechanism of wind tunnel test, and realizes the precise positioning of the model attitude. The existing system is developed from the traditional data acquisition method of the model attitude angle ladder fixed point blowing test to the continuous variable attitude angle continuous acquisition data, which improves the efficiency of the collection data and enriches the data and information obtained from the blowing test. For the concept of wind tunnel and the main components of wind tunnel, the composition and related working principle of the tail supporting mechanism in wind tunnel experiment, the electro-hydraulic servo control technology, the working principle and classification of electro-hydraulic servo valve in wind tunnel test, The working principle of valve controlled hydraulic cylinder and the simulation software technology of hydraulic system are studied and studied. The establishment of dynamic model of hydraulic servo cylinder and the control technology of hydraulic servo cylinder under the condition of friction power are introduced. The research status of servo cylinder speed nonlinear position control at home and abroad is also analyzed. A single hydraulic cylinder control algorithm is proposed, and its calculation model and implementation method are described in detail. The simulation and experimental results of electro-hydraulic servo system of rod support mechanism show that the compound control strategy of speed feedforward and position feedback is a powerful means to realize the accurate control of cylinder position and nonlinear velocity effectively. On the basis of position feedback, the speed feedforward control is added, and the control signal corresponding to the expected velocity is superimposed on the servo valve control signal. The basic idea of this method is as follows: in the process of dynamic operation, speed feedforward plays a major role in controlling the speed of the cylinder to follow the desired velocity curve, and in the vicinity of the desired position, the position closed loop plays the main role to ensure the accuracy of the position control. And restrain the external disturbance. The high precision dynamic control of the nonlinear velocity curve of the hydraulic servo system with single degree of freedom under the condition of variable load is realized, and the speed control precision is better than 0.5. A double hydraulic cylinder linkage control experimental platform was built. Based on the nonlinear speed and high precision position control of single hydraulic servo cylinder, the high precision linkage control technology of double hydraulic cylinder and the linkage control technology of two stage servo cylinder are studied. The simulation and experimental results show the effectiveness of the speed position compound control strategy and the virtual spindle control method in the hydraulic shaft nonlinear and high-precision linkage control. It is proved that the two stage servo cylinder can follow the "virtual spindle" to achieve high precision linkage control. In this paper, the nonlinear speed and high precision synthesis and positioning method control of series hydraulic servo cylinder are realized. The speed control precision is better than 0.5 and the positioning precision is better than 0.05 mm.
【學(xué)位授予單位】：重慶大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TH137

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