被动式电液伺服加载系统的反步自适应控制研究

发布时间：2018-03-20 21:43

本文选题：被动式电液伺服加载系统　切入点：多余力矩　出处：《河南科技大学》2017年硕士论文　论文类型：学位论文

【摘要】：被动式电液伺服加载系统又称电液负载模拟器,其中的典型应用是在地面实验室条件下,模拟飞行器舵面所受的空气动力载荷,以此检测舵机的技术性能指标,是飞控半物理仿真的主要设备之一。该模拟系统主要由加载系统和承载系统两部分组成,两个系统通过刚性轴进行连接,分别跟踪各自指令信号,利用角位移传感器和扭矩传感器测量信号实现闭环控制。在工作中由于加载系统受承载系统的强位置干扰会产生较大的多余力矩,又由于该系统中电液伺服阀输出控制流量的非线性特性和系统参数的时变性,所以很难对其进行高性能的控制。因此,本文深入开展了被动式电液伺服加载系统的理论和实验研究,以期形成高精度的力矩控制策略,为电液伺服加载控制提供了一定的理论支持和技术手段。首先,通过查阅近年来国内外文献论述了被动式电液伺服加载系统的主要技术指标、主要技术问题、研究现状及面临的挑战,最终确定本文采用控制补偿方法来提高系统的加载性能。其次,介绍了本文所研究的被动式电液伺服加载系统的结构形式,并基于此,在忽略其次要因素影响的前提下,建立了被动式电液伺服加载系统的非线性数学模型,基于系统的非线性数学模型推导出该系统的非线性系统方程;并对系统中多余力矩的产生机理及影响因素进行了相关分析。再次,针对被动式电液伺服加载系统的力矩控制问题,从非线性控制理论出发,将反步自适应控制方法与滑模控制策略相结合,设计了自适应反步滑模控制器,并运用Lyapunov稳定性定理对控制器的稳定性进行了证明;运用MATLAB仿真软件平台,搭建该控制器的Simulink模型,通过仿真比较各种控制方法的控制效果,证明了本文所提出的控制策略能够有效地抑制多余力矩,并且对参数摄动及外界扰动均具有较强的鲁棒性。最后,搭建了被动式电液伺服加载系统模拟实验台,运用该实验平台开展了被动式电液伺服加载系统自适应反步滑模控制方法的相关实验研究,验证了本文所提出控制方法的有效性。
[Abstract]:The passive electro-hydraulic servo loading system is also called the electro-hydraulic load simulator. The typical application is to simulate the aerodynamic load on the rudder surface of the aircraft under the condition of the ground laboratory, so as to detect the technical performance index of the steering gear. The simulation system is composed of two parts: loading system and carrying system. The two systems are connected by rigid axis to track their command signals respectively. The closed loop control is realized by using angular displacement sensor and torque sensor measurement signal. Because of the nonlinear characteristics of the output control flow of the electro-hydraulic servo valve and the time-varying of the system parameters, it is difficult to control it with high performance. In this paper, the theoretical and experimental research of the passive electro-hydraulic servo loading system is carried out in order to form a high-precision torque control strategy, which provides a certain theoretical support and technical means for the electro-hydraulic servo loading control. This paper discusses the main technical indexes, main technical problems, research status and challenges of passive electro-hydraulic servo loading system by consulting domestic and foreign literatures in recent years. Finally, it is determined that the control compensation method is used to improve the loading performance of the system. Secondly, the structure of the passive electro-hydraulic servo loading system studied in this paper is introduced, and based on this, the influence of secondary factors is ignored. The nonlinear mathematical model of the passive electro-hydraulic servo loading system is established, and the nonlinear system equation is derived based on the nonlinear mathematical model of the system. The mechanism of excess torque in the system and its influencing factors are analyzed. Thirdly, aiming at the torque control problem of passive electro-hydraulic servo loading system, the nonlinear control theory is introduced. Combining the backstepping adaptive control method with sliding mode control strategy, the adaptive backstepping sliding mode controller is designed, and the stability of the controller is proved by using the Lyapunov stability theorem. The Simulink model of the controller is built, and the control effect of various control methods is compared by simulation. It is proved that the control strategy proposed in this paper can effectively suppress the excess torque. And it has strong robustness to parameter perturbation and external disturbance. Finally, a passive electro-hydraulic servo loading system simulation test bench is built. The experimental research on adaptive backstepping sliding mode control method for passive electro-hydraulic servo loading system is carried out on this experimental platform, which verifies the effectiveness of the proposed control method.
【学位授予单位】：河南科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;TH137

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