电液负载模拟器结构与控制系统设计

发布时间：2019-07-06 06:52

【摘要】：电液负载模拟器是典型的机电液一体化系统。它可在实验室条件下,模拟飞行器舵面所受到的随飞行器飞行高度、周围气流、舵面位置等因素影响而变化的空气力矩。是半实物仿真系统的重要组成部分。本文设计了一套电液负载模拟器试验系统,具体工作如下: (1)电液负载模拟器试验系统的机械结构设计:本文设计了两个电液伺服马达作为执行元件,分别模拟舵机的运动和空气对舵机轴的作用力。舵机马达可以沿固定它的滑道运动改变其与加载马达之间的距离以模拟出不同结构参数的舵机。其结构设计以安全至上、标准化、模块化为设计原则,充分考虑了机械本体各模块的安装接口,与液压系统各模块的安装衔接以及结构内部的电气走线。 (2)电液负载模拟器试验系统的液压系统设计:本文设计的液压系统作为整个系统执行元件的动力要素,具有高精度、高响应、功率利用率大的特点。结构上采用旁置式以降低高度与机械本体做成一体;同时在各种可能出现振动的地方引入隔振措施;控制上实现了集中控制,将液压站所有的可控量都引到控制柜的泵控单元进行集中监测和控制。 (3)电液负载模拟器试验系统的控制系统硬件设计:以工控机和A/D,D/A模块为核心,集成了控制、配电、泵控、数字四个处理不同类型,不同功能信号的单元。四个单元由工控机统一分配工作。 (4)电液负载模拟器的控制算法研究、仿真与试验:本文通过理论推导和仿真提出了一种力前馈补偿的控制算法,并利用该方法设计了本课题负载模拟器的参数模型控制器。最后编制算法程序通过实验验证了力前馈补偿方法的有效性。
文内图片：

图片说明：电液负载模拟器试验系统构架图
[Abstract]:Electro-hydraulic load simulator is a typical mechanical-electro-hydraulic integrated system. Under laboratory conditions, it can simulate the air torque affected by the flight altitude, surrounding air flow, rudder surface position and other factors on the rudder surface of the aircraft. It is an important part of hardware-in-the-loop simulation system. In this paper, a set of electro-hydraulic load simulator test system is designed, the concrete work is as follows: (1) Mechanical structure design of electro-hydraulic load simulator test system: in this paper, two electro-hydraulic servo motors are designed as executive elements to simulate the motion of steering gear and the force of air on rudder shaft respectively. The steering gear motor can change the distance between the steering gear motor and the loading motor along the slide path to simulate the steering gear with different structural parameters. Its structure design takes safety first, standardization, module as the design principle, fully considers the installation interface of each module of the mechanical body, the installation connection with each module of the hydraulic system and the electrical wiring inside the structure. (2) hydraulic system design of electro-hydraulic load simulator test system: as the dynamic element of the executive element of the whole system, the hydraulic system designed in this paper has the characteristics of high precision, high response and high power utilization ratio. In the structure, the side type is used to reduce the height and the mechanical body is integrated; at the same time, the vibration isolation measures are introduced in all kinds of possible vibration places; the centralized control is realized, and all the controllable quantities of the hydraulic station are introduced to the pump control unit of the control cabinet for centralized monitoring and control. (3) the hardware design of the control system of the electro-hydraulic load simulator test system: taking the industrial control computer, A / D, D / A modules as the core, the four units of control, distribution, pump control and digital processing different types and different functional signals are integrated. The four units are assigned uniformly by the industrial control computer. (4) Research on control algorithm, simulation and experiment of electro-hydraulic load simulator: in this paper, a control algorithm of force feedforward compensation is proposed through theoretical derivation and simulation, and the parameter model controller of load simulator is designed by using this method. Finally, the effectiveness of the force feedforward compensation method is verified by experiments.
【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】：2011
【分类号】：TH137

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