电动负载力矩模拟器多余力矩产生机理及抑制方法研究
发布时间：2018-07-28 06:55
【摘要】：电动式负载力矩模拟器是用于模拟高速飞行器舵面在飞行中所承受的气动铰链力矩的半实物仿真系统,属于一种重要的飞行器地面性能测试装备,在一定程度上影响着飞行器的飞行精度。多余力矩是影响负载模拟系统力矩加载精度的主要因素,深入研究多余力矩的产生机理和抑制方法具有非常重要的实际意义。本文将以高速飞行器舵面负载模拟技术为研究背景,分别从传递函数模型和状态空间模型出发,详细分析多余力矩的产生机理并建立多余力矩的机理模型,在深入分析多余力矩动态特性的基础上设计多余力矩的抑制方法,并给出完整的负载模拟系统控制器结构和设计方法,最后经过仿真和实物实验验证本文所提出的控制理论的正确性和可行性。首先,本文将分析负载模拟系统的研究背景和意义,分析有关负载模拟系统的国内外研究现状,分析现有的关于多余力矩抑制方面的研究成果和不足。其次,在建立了力矩加载侧和舵机执行机构数学模型的基础上,建立了负载模拟系统的综合传递函数模型和状态空间模型。通过分析多余力矩的产生机理,建立了多余力矩的传递函数模型;基于负载模拟系统的状态空间模型,分析了多余力矩在该模型下的表达方法,然后分析了两种模型的异同点。再次,通过分析多余力矩的两种机理模型分别设计了多余力矩的抑制方法:对多余力矩的传递函数模型,主要分析了影响多余力矩的系统参数和输入项,确定了减小多余力矩需要改变的系统参数,并最终设计了特定的前馈控制方法;对多余力矩的状态空间模型,设计了抑制多余力矩的解耦控制算法,给出了求取解耦算法规范型的转换矩阵并证明了其正确性。最后,依据前述分析并基于某型负载模拟系统的标称参数,完成了负载模拟系统控制方案的整体设计和仿真实验,并在实物系统上实现了相关方案。仿真和实物实验结果验证了本课题中提出的控制方案的可行性。
[Abstract]:The electric load torque simulator is a hardware-in-the-loop simulation system used to simulate the aerodynamic hinge moment of the rudder surface of a high-speed aircraft in flight. It belongs to an important aircraft ground performance testing equipment. To some extent, it affects the flight accuracy of the aircraft. Superfluous torque is the main factor that affects the loading accuracy of load simulation system. It is of great practical significance to study the generation mechanism and suppression method of surplus torque. In this paper, based on the research background of the rudder surface load simulation technology of high-speed aircraft, the mechanism of excess torque is analyzed in detail from the transfer function model and the state space model, and the mechanism model of excess torque is established. Based on the deep analysis of the dynamic characteristics of the redundant torque, the suppression method of the redundant torque is designed, and the structure and design method of the controller of the load simulation system are given. Finally, the correctness and feasibility of the proposed control theory are verified by simulation and physical experiments. First of all, this paper will analyze the research background and significance of load simulation system, analyze the research status of load simulation system at home and abroad, and analyze the existing research results and shortcomings of redundant torque suppression. Secondly, based on the mathematical model of torque loading side and actuator, the comprehensive transfer function model and state space model of load simulation system are established. Based on the state space model of the load simulation system, the expression method of the excess torque under the model is analyzed, and the similarities and differences between the two models are analyzed. Thirdly, by analyzing two kinds of mechanism models of redundant torque, the suppression methods of redundant torque are designed: the transfer function model of redundant torque, the system parameters and input terms that affect redundant torque are analyzed. The system parameters which need to be changed to reduce the excess torque are determined, and a special feedforward control method is designed, and the decoupling control algorithm is designed for the state space model of the surplus torque. The transformation matrix of normal form of decoupling algorithm is given and its correctness is proved. Finally, according to the above analysis and based on the nominal parameters of a certain load simulation system, the overall design and simulation experiment of the control scheme of the load simulation system are completed, and the related schemes are realized in the physical system. Simulation and experimental results verify the feasibility of the proposed control scheme.
【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
本文编号：2149269
[Abstract]:The electric load torque simulator is a hardware-in-the-loop simulation system used to simulate the aerodynamic hinge moment of the rudder surface of a high-speed aircraft in flight. It belongs to an important aircraft ground performance testing equipment. To some extent, it affects the flight accuracy of the aircraft. Superfluous torque is the main factor that affects the loading accuracy of load simulation system. It is of great practical significance to study the generation mechanism and suppression method of surplus torque. In this paper, based on the research background of the rudder surface load simulation technology of high-speed aircraft, the mechanism of excess torque is analyzed in detail from the transfer function model and the state space model, and the mechanism model of excess torque is established. Based on the deep analysis of the dynamic characteristics of the redundant torque, the suppression method of the redundant torque is designed, and the structure and design method of the controller of the load simulation system are given. Finally, the correctness and feasibility of the proposed control theory are verified by simulation and physical experiments. First of all, this paper will analyze the research background and significance of load simulation system, analyze the research status of load simulation system at home and abroad, and analyze the existing research results and shortcomings of redundant torque suppression. Secondly, based on the mathematical model of torque loading side and actuator, the comprehensive transfer function model and state space model of load simulation system are established. Based on the state space model of the load simulation system, the expression method of the excess torque under the model is analyzed, and the similarities and differences between the two models are analyzed. Thirdly, by analyzing two kinds of mechanism models of redundant torque, the suppression methods of redundant torque are designed: the transfer function model of redundant torque, the system parameters and input terms that affect redundant torque are analyzed. The system parameters which need to be changed to reduce the excess torque are determined, and a special feedforward control method is designed, and the decoupling control algorithm is designed for the state space model of the surplus torque. The transformation matrix of normal form of decoupling algorithm is given and its correctness is proved. Finally, according to the above analysis and based on the nominal parameters of a certain load simulation system, the overall design and simulation experiment of the control scheme of the load simulation system are completed, and the related schemes are realized in the physical system. Simulation and experimental results verify the feasibility of the proposed control scheme.
【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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