大功率机电静压伺服系统控制策略研究

发布时间：2018-02-28 20:15

本文关键词： 机电静压控制策略伺服电机泵非线性PID 前馈补偿并联　出处：《中国航天科技集团公司第一研究院》2017年硕士论文　论文类型：学位论文

【摘要】：机电静压伺服机构(Electro-Hydrostatic Actuator,EHA)具有机电伺服机构(Electro-Mechanical Actuator,EMA)结构简单、效率高和传统电液伺服机构(Electro-Hydraulic Actuator,EH)重载能力强的双重优点,是未来运载火箭大推力摇摆发动机推力矢量控制的优选技术方案。但对于较大功率的产品而言,其动态能力是关注重点,单一的PID控制算法能力也有限。大功率EHA势必采用大功率的伺服电机和液压泵(或者一体化设计的“伺服电机泵”),其转动惯量较大,动态能力也有限。提出了“非线性PID+前馈补偿+陷波补偿”的控制算法。非线性PID克服了传统PID快速性与准确性难以兼顾的困难;前馈补偿有效改善了中低频段相位滞后;陷波补偿抑制负载谐振。同时,针对大功率EHA的高动态需求,提出双伺服电机泵并联控制的设计方案,一个泵功率较大,但要实现高动态较难,采用两个泵时单个泵功率可以较小,动态性能易保证。设计制造了双伺服电机泵并联控制的机电静压伺服机构试验样机。搭建了试验系统,采用某运载火箭1000kg·m~2转动惯量的模拟负载台,采用商用驱动器实现对伺服电机速度闭环控制,采用数字信号处理器(DSP)实现机构位置闭环运算。进行了仿真分析和试验研究。表明,与“比例+陷波补偿”的基本算法相比,采用“非线性PID+前馈补偿+陷波补偿”算法,-45°相频宽由18.5rad/s提高至22.7rad/s;与单泵相比,双泵时可实现更加优良的控制性能,在0.1°、0.2°、0.3°、0.4°指令条件下,-45°相频宽分别由24.9rad/s、22.7rad/s、21.3rad/s、20.4rad/s提高至26rad/s、22.8rad/s、23.8rad/s、24.6rad/s。本课题研究表明,结合“非线性PID+前馈补偿+陷波补偿”和双伺服电机泵并联的控制策略,大功率EHA的动态性能可满足未来运载火箭的需求。
[Abstract]:Electro-Hydrostatic Actuator (EHA) has the advantages of simple structure, high efficiency and high load capacity of Electro-Hydraulic Actuator (EH). Is an optimal selection scheme for thrust vector control of large thrust rocking engines for future launch vehicles. But for high-power products, its dynamic capability is the focus of attention. The single PID control algorithm is also limited. High power EHA is bound to use high power servo motor and hydraulic pump (or integrated design of "servo motor pump"), its moment of inertia is large. The control algorithm of "nonlinear PID feedforward compensation notch compensation" is proposed. The nonlinear PID overcomes the difficulty of combining the speed and accuracy of traditional PID, and feedforward compensation can effectively improve the phase lag in medium and low frequency bands. At the same time, aiming at the high dynamic demand of high power EHA, the design scheme of parallel control of double servo motor pump is put forward. The power of one pump is large, but it is difficult to realize high dynamic state. When two pumps are used, the power of a single pump can be reduced and the dynamic performance can be guaranteed easily. A test prototype of electromechanical static servo mechanism controlled in parallel by double servomotor pump is designed and manufactured. The test system is set up. The simulation load table with 1000kg 路mm2 moment of inertia of a certain carrier rocket, the closed loop control of servo motor speed by commercial driver and the closed loop operation of mechanism position by digital signal processor (DSP) are realized. The simulation analysis and experimental study are carried out, and the results show that, Compared with the basic algorithm of "proportional notch compensation", the "nonlinear PID feedforward compensation notch compensation" algorithm is used to increase the phase width from 18.5RPS to 22.7Ra / s. Compared with the single pump, the dual pump can achieve better control performance. Under the command of 0.1 掳/ 0.2 掳/ 0.3 掳/ 0.4 掳respectively, the phase frequency width of -45 掳is increased from 24.9 rads to 22.7 RPS 21.3 rads to 26RDS 22.8 rads / s 23.8radP / s 24.6radrs.This study shows that the control strategy is based on "nonlinear PID feedforward compensation notch compensation" and double-motor servo pump parallel connection, and the results are as follows: (1) in this paper, the nonlinear PID feedforward compensation notch compensation and the parallel control strategy of the double-motor servo pump are presented. The dynamic performance of high power EHA can meet the needs of future launch vehicles.
【学位授予单位】：中国航天科技集团公司第一研究院
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：V433;TP273

【参考文献】