单摆负载电液伺服动态加载系统多余力抑制方法研究
发布时间：2018-09-06 09:45
【摘要】：电液伺服动态加载系统是实验室里模拟飞行器发射和飞行过程中受到各种动力载荷的关键设备,许多情况下,这类系统的负载可以简化为一个具有单自由度的倒立单摆,由于单摆负载的主动运动对加载系统带来强烈的位置扰动,产生多余力,造成加载系统输出力不准确,如果不能有效地抑制多余力的影响,就会导致加载系统跟踪性能下降,不能实现对载荷谱的点点跟踪。 本文采用理论分析和数值仿真相结合的研究方法,对单摆负载加载系统产生多余力的过程、机理以及抑制方法做了深入的研究和讨论。介绍了单摆负载电液伺服动态加载系统的基本结构和工作原理,分析了单摆负载的运动规律,建立了整个系统的数学模型。考虑到单摆负载支撑处的非线性因素,详细分析了单摆负载中的摩擦非线性对加载系统的影响。根据多余力的产生过程和产生机理,寻找相应的补偿措施来抑制多余力,从硬件结构补偿出发,提出了双阀并联的方式来消除多余力,使动态加载系统近似工作在静态加载情况下；由于单摆负载的位置系统与加载系统之间存在着相互耦合关系,提出了双微分结构解耦补偿控制来减小多余力的方法,通过理论分析在整个系统中设计了两个微分补偿环节,最大限度的消除多余力；根据具体的动态加载性能指标,设计可进行无扰加载、多余力测试、双阀并联测试和双微分结构解耦补偿控制测试的试验系统,选取和设计试验系统中的液压元件和控制系统的电气硬件,设计试验系统的测控软件部分,提出了运用MATLAB RTW中xPC Target方式实现单摆负载电液伺服动态加载系统的实时仿真任务。 MATLAB仿真结果表明,加入摩擦模型严重影响加载系统跟踪性能,其中幅值衰减超过30%,加入准积分补偿环节能够极大地减小了幅值衰减,使其小于3%,随着摩擦偏移值增大10倍,摩擦非线性对加载系统的跟踪性能影响更大；在单摆负载驱动频率和加载频率为10HZ时,双阀并联补偿方案很好的满足加载系统的双十指标,产生的多余力小于给定输入的10%,双微分结构解耦补偿控制策略仿真表明,多余力从原来的±22N左右减小到±4N左右,跟踪性能指标也满足动态加载系统的双十性能指标。
[Abstract]:The electro-hydraulic servo dynamic loading system is the key equipment in the laboratory to simulate all kinds of dynamic loads during the launch and flight of an aircraft. In many cases, the load of this kind of system can be simplified as an inverted pendulum with a single degree of freedom. Because the active movement of single pendulum load brings strong position disturbance to the loading system and produces more Yu Li, the output force of the loading system is inaccurate. If the influence of redundant force can not be suppressed effectively, the tracking performance of the loading system will decline. The point tracking of load spectrum can not be realized. In this paper, the theoretical analysis and numerical simulation are used to study and discuss deeply the process, mechanism and suppression methods of generating multiple Yu Li in a single pendulum loading system. This paper introduces the basic structure and working principle of electro-hydraulic servo dynamic loading system with single pendulum load, analyzes the movement law of single pendulum load, and establishes the mathematical model of the whole system. Considering the nonlinear factors in the support of a single pendulum load, the effect of friction nonlinearity on the loading system is analyzed in detail. According to the generation process and mechanism of redundant force, the corresponding compensation measures are found to suppress the redundant force. Based on the hardware structure compensation, the method of double valve parallel connection is put forward to eliminate the redundant force. The dynamic loading system is approximately operated under static loading. Due to the coupling relationship between the position system and the loading system of a single pendulum load, a double differential structure decoupling compensation control is proposed to reduce the redundant force. Through the theoretical analysis, two differential compensation links are designed in the whole system to eliminate redundant force to the maximum extent, according to the specific dynamic loading performance index, the design can carry on the non-disturbance loading, the multi-Yu Li test, The test system of double valve parallel connection test and double differential structure decoupling compensation control test is selected and designed. The hydraulic components in the test system and the electrical hardware of the control system are selected and designed. The measurement and control software part of the test system is designed. The real-time simulation task of single pendulum load electro-hydraulic servo dynamic loading system using xPC Target in MATLAB RTW is proposed. The MATLAB simulation results show that adding friction model seriously affects the tracking performance of loading system. The amplitude attenuation is more than 30, and the amplitude attenuation can be greatly reduced by adding the quasi integral compensation link, which makes the amplitude attenuation less than 3. With the increase of the friction offset value by 10 times, the friction nonlinearity has a greater impact on the tracking performance of the loading system. When the load driving frequency and loading frequency of single pendulum are 10HZ, the double valve parallel compensation scheme can well satisfy the double ten index of the loading system, and the redundant force generated is less than 10% of the given input. The simulation results of the decoupling compensation control strategy of the double differential structure show that, More Yu Li is reduced from 卤22N to 卤4N, and the tracking performance index also meets the double ten performance index of the dynamic loading system.
【学位授予单位】：兰州理工大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TH137.7;TP273
本文编号：2225960
[Abstract]:The electro-hydraulic servo dynamic loading system is the key equipment in the laboratory to simulate all kinds of dynamic loads during the launch and flight of an aircraft. In many cases, the load of this kind of system can be simplified as an inverted pendulum with a single degree of freedom. Because the active movement of single pendulum load brings strong position disturbance to the loading system and produces more Yu Li, the output force of the loading system is inaccurate. If the influence of redundant force can not be suppressed effectively, the tracking performance of the loading system will decline. The point tracking of load spectrum can not be realized. In this paper, the theoretical analysis and numerical simulation are used to study and discuss deeply the process, mechanism and suppression methods of generating multiple Yu Li in a single pendulum loading system. This paper introduces the basic structure and working principle of electro-hydraulic servo dynamic loading system with single pendulum load, analyzes the movement law of single pendulum load, and establishes the mathematical model of the whole system. Considering the nonlinear factors in the support of a single pendulum load, the effect of friction nonlinearity on the loading system is analyzed in detail. According to the generation process and mechanism of redundant force, the corresponding compensation measures are found to suppress the redundant force. Based on the hardware structure compensation, the method of double valve parallel connection is put forward to eliminate the redundant force. The dynamic loading system is approximately operated under static loading. Due to the coupling relationship between the position system and the loading system of a single pendulum load, a double differential structure decoupling compensation control is proposed to reduce the redundant force. Through the theoretical analysis, two differential compensation links are designed in the whole system to eliminate redundant force to the maximum extent, according to the specific dynamic loading performance index, the design can carry on the non-disturbance loading, the multi-Yu Li test, The test system of double valve parallel connection test and double differential structure decoupling compensation control test is selected and designed. The hydraulic components in the test system and the electrical hardware of the control system are selected and designed. The measurement and control software part of the test system is designed. The real-time simulation task of single pendulum load electro-hydraulic servo dynamic loading system using xPC Target in MATLAB RTW is proposed. The MATLAB simulation results show that adding friction model seriously affects the tracking performance of loading system. The amplitude attenuation is more than 30, and the amplitude attenuation can be greatly reduced by adding the quasi integral compensation link, which makes the amplitude attenuation less than 3. With the increase of the friction offset value by 10 times, the friction nonlinearity has a greater impact on the tracking performance of the loading system. When the load driving frequency and loading frequency of single pendulum are 10HZ, the double valve parallel compensation scheme can well satisfy the double ten index of the loading system, and the redundant force generated is less than 10% of the given input. The simulation results of the decoupling compensation control strategy of the double differential structure show that, More Yu Li is reduced from 卤22N to 卤4N, and the tracking performance index also meets the double ten performance index of the dynamic loading system.
【学位授予单位】：兰州理工大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TH137.7;TP273
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