电动负载模拟器的等效分析和消扰策略研究

发布时间：2017-12-28 14:18

本文关键词：电动负载模拟器的等效分析和消扰策略研究　出处：《北京交通大学》2016年博士论文　论文类型：学位论文

【摘要】：电动负载模拟器是飞行控制系统半实物仿真中的重要试验设备,它的任务是模拟舵机在实际工作过程中受到的气动铰链力矩,实现对舵机系统性能的检验。本论文以多项实际工程项目为背景,对电动负载模拟器的各项关键技术和理论问题进行了研究,并在以下几个方面进行了开创性的工作。首先,对比了电动和液压系统的数学模型,论证了两个系统在宏观动力学层面上的等效性,并归纳出电动和液压参数物理意义的等价关系。以“电枢电压”与“负载流量”的等价关系为基础,推导出负载模拟器的受迫流量(或反电动势)与阀控加载流量(电枢电压)的比值,即被动-主动流量比,该比值是比较电动与电液负载模拟器综合性能的重要依据。其次,简化了电动负载模拟器的传递函数,得到了其动态响应性能参数的解析表达式,明确了电机参数对系统增益、频宽和阻尼比的影响,该结论为电动负载模拟器的设计提供了更具针对性的理论依据。在此基础上,建立了完整的电动负载模拟器数学模型,提出了加载系统稳定裕度和“双十”频宽的调节方法。再次,绘制了位置扰动作用的频率响应特性伯德图,通过对特性曲线增益、斜率的分析研究,说明了电动负载模拟器的多余力矩本质上是由综合摩擦负载、惯性负载和弹性位置负载叠加而成的。对位置扰动信号和多余力矩信号做频谱分析,得到了位置扰动的实际动态响应特性。试验结果与数学模型相吻合,证明了理论分析的正确性。然后,在电动负载模拟器输出力矩服从线性叠加原理的前提下,提出了以矢量匹配关系为基础的消扰策略。并针对舵机运动规律的周期性特点,提出了可统称为“基于矢量匹配的位置扰动力矩消除方法”的“单矢量匹配法”和“复矢量匹配法”。其中,前者主要用于抑制正弦型的位置扰动,后者则可抑制更普遍的周期性位置扰动,是对前者的拓展。以上方法均得到了试验验证,试验结果说明矢量匹配法不但能够消除由位置扰动引起的多余力矩,还能够补偿由加载系统相位滞后引起的加载误差,从根本上提高负载模拟器的动态加载精度。最后,设计了绝缘联轴器,实现了对轴承电压耦合通道的阻断,提高了传感器信号的信噪比。在深入研究fidrow-Hoff网络的基础上,提出了一种改进的自适应线性神经网络(RLS-ADALINE)。通过对比研究,证明了由RLS-ADALINE网络设计的滤波器具有更好的滤波效果。针对测量速度和加速度的实际需要,提出了一种新的正弦激励法,提高了传感器的标定效率和测量精度。
[Abstract]:The electric load simulator is an important test equipment in hardware in the loop simulation of flight control system. Its task is to simulate the aerodynamic hinge moment of the steering engine in the actual working process, so as to test the performance of the steering system. Based on many practical engineering projects, this paper studies the key technologies and theoretical problems of the electric load simulator, and has done pioneering work in the following aspects. First, we compare the mathematical models of electric and hydraulic systems, demonstrate the equivalence of the two systems at the macro kinetics level, and conclude the equivalent relations between the electric and hydraulic parameters physical meaning. The equivalence between the armature voltage and load flow based load simulator is derived by forced flow (or EMF) and the valve controlled load flow (i.e. the ratio of the armature voltage), passive active flow ratio, the ratio is an important basis for the comprehensive performance of the simulator is electric and electrohydraulic load the. Secondly, the simplified transfer function of the electric load simulator, the analytical expression of performance parameters of its dynamic response is obtained, the motor parameters affect the system gain, bandwidth and damping ratio, the conclusion provides more evidence for the theory for the design of electric load simulator. On this basis, a complete mathematical model of electric load simulator, and puts forward the method of adjusting loading system stability margin and "ten" bandwidth. Thirdly, the frequency response characteristic of position disturbance is plotted. By analyzing the gain and slope of the characteristic curve, it is shown that the redundant torque of the electric load simulator is essentially made up of the comprehensive friction load, the inertia load and the elastic position load. The actual dynamic response characteristics of the position disturbance are obtained by analyzing the frequency spectrum of the position disturbance signal and the superfluous moment signal. The result of the test is in agreement with the mathematical model, which proves the correctness of the theoretical analysis. Then, on the premise of the linear superposition principle of the output torque of the electric load simulator, the suppression strategy based on the vector matching relationship is proposed. According to the periodic characteristics of rudder motion law, a single vector matching method and complex vector matching method which can be collectively referred to as "position disturbance torque elimination method based on vector matching" are put forward. The former is mainly used to restrain the position disturbance of the sine type, and the latter can restrain the more universal periodic position disturbance, which is the expansion of the former. The above methods have been verified by experiments. The experimental results show that vector matching method can not only eliminate the redundant torque caused by location disturbance, but also compensate for the loading error caused by the phase lag of the loading system, which fundamentally improves the dynamic loading accuracy of load simulator. Finally, the insulation coupling is designed to block the coupling channel of the bearing voltage and improve the signal to noise ratio of the sensor signal. Based on the in-depth study of fidrow-Hoff network, an improved adaptive linear neural network (RLS-ADALINE) is proposed. Through comparative study, it is proved that the filter designed by RLS-ADALINE network has better filtering effect. A new sinusoidal excitation method is proposed to improve the calibration efficiency and measurement accuracy of the sensor for the actual needs of measuring speed and acceleration.
【学位授予单位】：北京交通大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：V216.8

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