【摘要】：負(fù)載力矩模擬器是在實(shí)驗(yàn)室條件下將飛行器在空中飛行時(shí)舵面的受力情況復(fù)現(xiàn)出來,對(duì)舵機(jī)角位置伺服系統(tǒng)的實(shí)際工作性能進(jìn)行測(cè)試的地面半實(shí)物仿真設(shè)備。負(fù)載力矩模擬器經(jīng)歷了由機(jī)械式到電液式再到電動(dòng)式的發(fā)展過程。伺服電機(jī)與電力電子元件的不斷發(fā)展以及電動(dòng)舵機(jī)在飛行器系統(tǒng)中的主流地位使得電動(dòng)負(fù)載力矩模擬器成為現(xiàn)階段進(jìn)行舵機(jī)負(fù)載力矩模擬的主要設(shè)備。然而電動(dòng)負(fù)載力矩模擬器與舵機(jī)直接相連在進(jìn)行加載實(shí)驗(yàn)時(shí)產(chǎn)生的多余力矩問題始終沒有徹底得到解決。本文提出一種新型的無多余力矩離心式負(fù)載力矩模擬器,該系統(tǒng)利用離心機(jī)帶動(dòng)回轉(zhuǎn)平臺(tái)上的質(zhì)量塊繞離心機(jī)主軸轉(zhuǎn)動(dòng),使質(zhì)量塊受到的離心力通過機(jī)械結(jié)構(gòu)傳遞至舵機(jī)軸上并形成作用在舵機(jī)軸上的負(fù)載力矩。本課題是以“某型半實(shí)物仿真實(shí)驗(yàn)系統(tǒng)”中的離心式負(fù)載力矩模擬器為研究對(duì)象,以工程實(shí)踐為背景,對(duì)離心式負(fù)載力矩模擬器進(jìn)行機(jī)理建模、性能分析及實(shí)驗(yàn)研究。首先,確定了離心式負(fù)載力矩模擬器的組成,建立了系統(tǒng)的動(dòng)力學(xué)模型并通過仿真分析作出了合理的簡(jiǎn)化;采用機(jī)理建模的方法分別建立了轉(zhuǎn)速伺服系統(tǒng)和直線位移伺服系統(tǒng)的數(shù)學(xué)模型,進(jìn)而得出了系統(tǒng)完整的狀態(tài)空間模型,并基于負(fù)載力矩模擬器的數(shù)學(xué)模型對(duì)系統(tǒng)的負(fù)載力矩仿真原理進(jìn)行了分析。其次,對(duì)離心式負(fù)載力矩模擬器的控制策略展開分析,在確定了系統(tǒng)整體的控制結(jié)構(gòu)后,通過理論分析與仿真對(duì)系統(tǒng)性能指標(biāo)要求進(jìn)行了分解,通過系統(tǒng)力矩伺服指標(biāo)確定了轉(zhuǎn)速伺服系統(tǒng)與直線位移伺服系統(tǒng)的伺服指標(biāo),然后確定了系統(tǒng)控制結(jié)構(gòu)中各個(gè)控制器用到的具體控制方法,闡述了選擇這些控制方法的原因。接下來,對(duì)離心機(jī)轉(zhuǎn)速伺服系統(tǒng)與直線電機(jī)位置伺服系統(tǒng)進(jìn)行了多回路控制設(shè)計(jì),使上述兩個(gè)伺服系統(tǒng)滿足了伺服性能要求,然后設(shè)計(jì)了系統(tǒng)輸入輸出線性化控制器并對(duì)輸入輸出線性化后的線性系統(tǒng)基于混合靈敏度優(yōu)化方法設(shè)計(jì)H∞控制器,最終使得系統(tǒng)整體滿足了力矩伺服性能要求。最后,將上述控制方案運(yùn)用到實(shí)際的離心式負(fù)載力矩模擬器當(dāng)中,對(duì)轉(zhuǎn)速伺服系統(tǒng)與直線電機(jī)位置伺服系統(tǒng)分別進(jìn)行性能驗(yàn)證后再對(duì)完整系統(tǒng)的力矩伺服性能進(jìn)行進(jìn)一步驗(yàn)證,驗(yàn)證了上述控制方案的合理性。
[Abstract]:The load torque simulator is a ground-based hardware-in-the-loop simulation equipment, which can test the actual performance of the rudder angle position servo system by reproducing the force condition of the rudder's rudder in the air under laboratory conditions. The load torque simulator has experienced the development from mechanical to electro-hydraulic and then to electrodynamic. With the development of servo motor and power electronic components and the main position of electric steering gear in aircraft system, the electric load torque simulator becomes the main equipment to simulate the rudder load torque at the present stage. However, the problem of redundant torque caused by the direct connection between the electric load torque simulator and the steering gear in the loading experiment has not been completely solved. A new type of centrifugal load torque simulator without redundant torque is presented in this paper. The system uses centrifuge to drive the mass block on the rotary platform to rotate around the main shaft of the centrifuge. The centrifugal force received by the mass block is transferred to the steering shaft by mechanical structure and the load torque acting on the steering shaft is formed. This paper takes the centrifugal load torque simulator in a hardware-in-the-loop simulation experiment system as the research object, and takes the engineering practice as the background, carries on the mechanism modeling, the performance analysis and the experiment research to the centrifugal load torque simulator. Firstly, the composition of centrifugal load torque simulator is determined, the dynamic model of the system is established, and the reasonable simplification is made through simulation analysis. The mathematical models of rotational speed servo system and linear displacement servo system are established by the method of mechanism modeling, and then the complete state space model of the system is obtained. Based on the mathematical model of the load torque simulator, the principle of the load moment simulation is analyzed. Secondly, the control strategy of centrifugal load torque simulator is analyzed. After determining the whole control structure of the system, the system performance requirements are decomposed by theoretical analysis and simulation. The servo indexes of the rotational speed servo system and the linear displacement servo system are determined by the torque servo index of the system. Then the specific control methods used by each controller in the control structure of the system are determined, and the reasons for selecting these control methods are expounded. Then, the multi-loop control design of centrifugal speed servo system and linear motor position servo system is carried out, which makes the above two servo systems meet the servo performance requirements. Then, the input-output linearization controller of the system is designed and the H 鈭，

本文編號(hào)：2458465