本文關(guān)鍵詞： 機(jī)電靜壓 控制策略 伺服電機(jī)泵 非線性PID 前饋補(bǔ)償 并聯(lián)　出處：《中國(guó)航天科技集團(tuán)公司第一研究院》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：機(jī)電靜壓伺服機(jī)構(gòu)(Electro-Hydrostatic Actuator,EHA)具有機(jī)電伺服機(jī)構(gòu)(Electro-Mechanical Actuator,EMA)結(jié)構(gòu)簡(jiǎn)單、效率高和傳統(tǒng)電液伺服機(jī)構(gòu)(Electro-Hydraulic Actuator,EH)重載能力強(qiáng)的雙重優(yōu)點(diǎn),是未來運(yùn)載火箭大推力搖擺發(fā)動(dòng)機(jī)推力矢量控制的優(yōu)選技術(shù)方案。但對(duì)于較大功率的產(chǎn)品而言,其動(dòng)態(tài)能力是關(guān)注重點(diǎn),單一的PID控制算法能力也有限。大功率EHA勢(shì)必采用大功率的伺服電機(jī)和液壓泵(或者一體化設(shè)計(jì)的“伺服電機(jī)泵”),其轉(zhuǎn)動(dòng)慣量較大,動(dòng)態(tài)能力也有限。提出了“非線性PID+前饋補(bǔ)償+陷波補(bǔ)償”的控制算法。非線性PID克服了傳統(tǒng)PID快速性與準(zhǔn)確性難以兼顧的困難;前饋補(bǔ)償有效改善了中低頻段相位滯后;陷波補(bǔ)償抑制負(fù)載諧振。同時(shí),針對(duì)大功率EHA的高動(dòng)態(tài)需求,提出雙伺服電機(jī)泵并聯(lián)控制的設(shè)計(jì)方案,一個(gè)泵功率較大,但要實(shí)現(xiàn)高動(dòng)態(tài)較難,采用兩個(gè)泵時(shí)單個(gè)泵功率可以較小,動(dòng)態(tài)性能易保證。設(shè)計(jì)制造了雙伺服電機(jī)泵并聯(lián)控制的機(jī)電靜壓伺服機(jī)構(gòu)試驗(yàn)樣機(jī)。搭建了試驗(yàn)系統(tǒng),采用某運(yùn)載火箭1000kg·m~2轉(zhuǎn)動(dòng)慣量的模擬負(fù)載臺(tái),采用商用驅(qū)動(dòng)器實(shí)現(xiàn)對(duì)伺服電機(jī)速度閉環(huán)控制,采用數(shù)字信號(hào)處理器(DSP)實(shí)現(xiàn)機(jī)構(gòu)位置閉環(huán)運(yùn)算。進(jìn)行了仿真分析和試驗(yàn)研究。表明,與“比例+陷波補(bǔ)償”的基本算法相比,采用“非線性PID+前饋補(bǔ)償+陷波補(bǔ)償”算法,-45°相頻寬由18.5rad/s提高至22.7rad/s;與單泵相比,雙泵時(shí)可實(shí)現(xiàn)更加優(yōu)良的控制性能,在0.1°、0.2°、0.3°、0.4°指令條件下,-45°相頻寬分別由24.9rad/s、22.7rad/s、21.3rad/s、20.4rad/s提高至26rad/s、22.8rad/s、23.8rad/s、24.6rad/s。本課題研究表明,結(jié)合“非線性PID+前饋補(bǔ)償+陷波補(bǔ)償”和雙伺服電機(jī)泵并聯(lián)的控制策略,大功率EHA的動(dòng)態(tài)性能可滿足未來運(yùn)載火箭的需求。
[Abstract]:Electro-Hydrostatic Actuator (EHA) has the advantages of simple structure, high efficiency and high load capacity of Electro-Hydraulic Actuator (EH). Is an optimal selection scheme for thrust vector control of large thrust rocking engines for future launch vehicles. But for high-power products, its dynamic capability is the focus of attention. The single PID control algorithm is also limited. High power EHA is bound to use high power servo motor and hydraulic pump (or integrated design of "servo motor pump"), its moment of inertia is large. The control algorithm of "nonlinear PID feedforward compensation notch compensation" is proposed. The nonlinear PID overcomes the difficulty of combining the speed and accuracy of traditional PID, and feedforward compensation can effectively improve the phase lag in medium and low frequency bands. At the same time, aiming at the high dynamic demand of high power EHA, the design scheme of parallel control of double servo motor pump is put forward. The power of one pump is large, but it is difficult to realize high dynamic state. When two pumps are used, the power of a single pump can be reduced and the dynamic performance can be guaranteed easily. A test prototype of electromechanical static servo mechanism controlled in parallel by double servomotor pump is designed and manufactured. The test system is set up. The simulation load table with 1000kg 路mm2 moment of inertia of a certain carrier rocket, the closed loop control of servo motor speed by commercial driver and the closed loop operation of mechanism position by digital signal processor (DSP) are realized. The simulation analysis and experimental study are carried out, and the results show that, Compared with the basic algorithm of "proportional notch compensation", the "nonlinear PID feedforward compensation notch compensation" algorithm is used to increase the phase width from 18.5RPS to 22.7Ra / s. Compared with the single pump, the dual pump can achieve better control performance. Under the command of 0.1 擄/ 0.2 擄/ 0.3 擄/ 0.4 擄respectively, the phase frequency width of -45 擄is increased from 24.9 rads to 22.7 RPS 21.3 rads to 26RDS 22.8 rads / s 23.8radP / s 24.6radrs.This study shows that the control strategy is based on "nonlinear PID feedforward compensation notch compensation" and double-motor servo pump parallel connection, and the results are as follows: (1) in this paper, the nonlinear PID feedforward compensation notch compensation and the parallel control strategy of the double-motor servo pump are presented. The dynamic performance of high power EHA can meet the needs of future launch vehicles.
【學(xué)位授予單位】：中國(guó)航天科技集團(tuán)公司第一研究院
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：V433;TP273

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