风洞伺服油缸高精度控制方法研究

发布时间：2018-10-08 20:17

【摘要】：本文主要研究控制风洞试验模型支撑机构的液压伺服系统，实现模型姿态精确定位，将现有系统由传统的模型姿态角阶梯定点吹风试验数据采集方式逐步向连续变姿态角连续采集数据方向发展，提高采集数据效率，丰富获得的吹风试验数据和信息。对风洞的概念以及风洞的主要组成部分、风洞实验中的尾腹撑机构装置的组成以及相关工作原理、风洞试验中电液伺服控制技术、电液伺服阀的工作原理以及分类、阀控液压油缸的工作原理、液压系统仿真软件技术等进行学习和研究，对在摩擦动力的情况下液压伺服油缸动力学模型的建立和液压伺服油缸的控制技术进行了深入的介绍，并分析了当前国内外针对伺服油缸速度非线性位置高精度控制的研究现状。提出了单液压油缸控制算法，并详细阐明了其计算模型与实现方法，以杆支撑机构电液伺服系统为例开展的仿真研究与试验研究结果表明速度前馈和位置反馈复合控制策略是有效实现油缸位置和非线性速度的精确控制的有力手段，即在位置反馈的基础上，增加速度前馈控制，将期望速度对应的控制信号叠加在伺服阀控制信号上。该方法的基本思想如下：在动态运行过程中，速度前馈起主要作用，控制油缸运行速度，使其跟随期望速度曲线；在期望位置附近，位置闭环起主要作用，，保证位置控制精度，且抑制外部扰动。实现了单自由度液压伺服系统在变载荷条件下非线性速度曲线高精度动态控制，速度控制精度优于0.5%。建了双液压油缸联动控制实验平台，并在单液压伺服油缸非线性速度和高精度位置控制的基础上对双液压油缸高精度联动控制技术和两级伺服油缸的联动控制技术进行深入研究，仿真和实验结果证明了速度位置复合控制策略和虚拟主轴控制方法在液压轴非线性高精度联动控制方面的有效性，证明了两级伺服油缸的一级和二级可以跟随“虚拟主轴”实现高精度联动控制。实现了串联液压伺服油缸非线性速度高精度合成和定位方法控制研究，速度控制精度优于0.5%，定位精度优于0.05mm。
[Abstract]:This paper mainly studies the hydraulic servo system which controls the model support mechanism of wind tunnel test, and realizes the precise positioning of the model attitude. The existing system is developed from the traditional data acquisition method of the model attitude angle ladder fixed point blowing test to the continuous variable attitude angle continuous acquisition data, which improves the efficiency of the collection data and enriches the data and information obtained from the blowing test. For the concept of wind tunnel and the main components of wind tunnel, the composition and related working principle of the tail supporting mechanism in wind tunnel experiment, the electro-hydraulic servo control technology, the working principle and classification of electro-hydraulic servo valve in wind tunnel test, The working principle of valve controlled hydraulic cylinder and the simulation software technology of hydraulic system are studied and studied. The establishment of dynamic model of hydraulic servo cylinder and the control technology of hydraulic servo cylinder under the condition of friction power are introduced. The research status of servo cylinder speed nonlinear position control at home and abroad is also analyzed. A single hydraulic cylinder control algorithm is proposed, and its calculation model and implementation method are described in detail. The simulation and experimental results of electro-hydraulic servo system of rod support mechanism show that the compound control strategy of speed feedforward and position feedback is a powerful means to realize the accurate control of cylinder position and nonlinear velocity effectively. On the basis of position feedback, the speed feedforward control is added, and the control signal corresponding to the expected velocity is superimposed on the servo valve control signal. The basic idea of this method is as follows: in the process of dynamic operation, speed feedforward plays a major role in controlling the speed of the cylinder to follow the desired velocity curve, and in the vicinity of the desired position, the position closed loop plays the main role to ensure the accuracy of the position control. And restrain the external disturbance. The high precision dynamic control of the nonlinear velocity curve of the hydraulic servo system with single degree of freedom under the condition of variable load is realized, and the speed control precision is better than 0.5. A double hydraulic cylinder linkage control experimental platform was built. Based on the nonlinear speed and high precision position control of single hydraulic servo cylinder, the high precision linkage control technology of double hydraulic cylinder and the linkage control technology of two stage servo cylinder are studied. The simulation and experimental results show the effectiveness of the speed position compound control strategy and the virtual spindle control method in the hydraulic shaft nonlinear and high-precision linkage control. It is proved that the two stage servo cylinder can follow the "virtual spindle" to achieve high precision linkage control. In this paper, the nonlinear speed and high precision synthesis and positioning method control of series hydraulic servo cylinder are realized. The speed control precision is better than 0.5 and the positioning precision is better than 0.05 mm.
【学位授予单位】：重庆大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TH137

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