无多余力矩负载模拟器建模与弹道仿真

发布时间：2018-06-15 14:06

本文选题：负载模拟器 + 多余力矩　；参考：《哈尔滨工业大学》2015年硕士论文

【摘要】：飞行器负载力矩模拟器是一种被动式的力矩或力控制设备,能够以较高精度模拟各种复杂的、甚至是快速变化的力矩或力函数。利用负载力矩模拟器即可进行导弹、飞机等飞行器舵机系统的地面模拟试验。这样在实验室内便可模拟出飞行器真实航行的状态,模拟飞行器在飞行时的受力情况,可见模拟试验相比实弹试验大大节省了研制周期和成本。但在传统负载模拟器结构中,加载电机直接驱动承载舵机,因此舵机的转动势必会对加载电机造成扰动,从而带来多余力矩问题。所以如何通过结构和控制上的优化消除或部分消除多余力矩,对于负载模拟器的设计和研制具有重要意义。本文在研究国内外负载力矩模拟器的发展过程与研究现状的基础上,利用加载电机不直接驱动承载舵机的思想,提出了新型无多余力矩负载力矩模拟器的三种结构方案,并结合动力学建模、弹道仿真、不确定度分析等环节对三种结构方案进行可行性分析以及各方面优缺点比较。论文的研究内容主要围绕以下六方面展开:各方案运动学原理,初步分析各方案的可行性;建立各方案动力学模型,使用Matlab和Adams软件对负载模拟器进行动力学仿真分析;针对典型的力矩函数,使用Matlab软件进行弹道仿真,以复现飞行器航行时所受力矩;以动力学模型为基础,对负载模拟器进行不确定度分析,得到各个方案输出力矩的误差数据;从运动学、动力学和精度方面分析方案可行性;综合比较三种方案在结构紧凑性及合理性、精度、信号传输稳定性等方面的优劣。本文完成了负载力矩模拟器三种结构方案的建模、仿真和不确定分析,得到了可靠的动力学模型和误差指标,对确定结构参数、如何继续优化结构、如何进一步提高系统跟踪精度具有重要的指导意义。
[Abstract]:Aircraft load torque simulator is a passive torque or force control equipment, which can simulate all kinds of complicated, even rapidly changing torque or force functions with high precision. The ground simulation test of missile, aircraft and other aircraft steering system can be carried out by using load moment simulator. In this way, the real flight state of the aircraft can be simulated in the laboratory, and the force situation of the aircraft in flight can be simulated. It can be seen that the simulation test greatly saves the development cycle and the cost compared with the live ammunition test. However, in the traditional load simulator structure, the loading motor drives the steering gear directly, so the rotation of the steering gear will inevitably cause disturbance to the loading motor and bring about the problem of redundant torque. Therefore, how to eliminate or partially eliminate redundant torque through optimization of structure and control is of great significance to the design and development of load simulator. On the basis of studying the development process and research status of load torque simulator at home and abroad, this paper puts forward three kinds of structure schemes of new load torque simulator without redundant torque by using the idea that load motor does not drive load steering gear directly. Combined with dynamics modeling, trajectory simulation and uncertainty analysis, the feasibility analysis and advantages and disadvantages of the three structural schemes are analyzed. The main contents of this paper are as follows: kinematics principle of each scheme, preliminary analysis of feasibility of each scheme, establishment of dynamic model of each scheme, dynamic simulation analysis of load simulator using Matlab and Adams software; Aiming at the typical moment function, the trajectory simulation is carried out by using Matlab software, and the moment received during the flight of the aircraft is reproduced, the uncertainty of the load simulator is analyzed on the basis of the dynamic model, and the error data of the output moment of each scheme are obtained. The feasibility of the scheme is analyzed from the aspects of kinematics, dynamics and accuracy, and the advantages and disadvantages of the three schemes in terms of structure compactness and rationality, accuracy and signal transmission stability are comprehensively compared. In this paper, the modeling, simulation and uncertainty analysis of three structural schemes of load torque simulator are completed, and the reliable dynamic model and error index are obtained. How to further improve the tracking accuracy of the system has an important guiding significance.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V216.8

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