【作者】 封文涛；

【导师】 曹健；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2011， 硕士

【摘要】 作为飞行控制系统半实物仿真中的重要实验设备,飞行仿真转台的性能直接关系到飞行器仿真结果的逼真度。随着我国现代军事技术的发展和当前国际形势的日益严峻,对飞行仿真转台的技术水平要求不断地提高,单纯采用摆动式电液伺服马达驱动的仿真转台已经不能满足要求,在此背景下,本文对新型大排量连续回转电液伺服马达的性能及其控制系统进行了研究。本文通过阅读大量国内外文献,综述了了国内外仿真转台的发展概况,介绍了决定仿真转台整体技术水平的一些关键技术。针对仿真转台超低速、宽调速、高频响等性能指标的要求,本文对大排量连续回转电液伺服马达的结构模型进行分析,证明此马达实现了转速、流量和理论输出扭矩的无脉动。考虑到马达实际系统的特点,建立了系统的传统数学模型,在此基础上对马达的稳定性、开、闭环频率特性等进行分析。使用最小二乘法对系统进行离散模型辨识,建立了离散系统的ARX模型,并依据辨识模型分析了对马达性能造成影响的因素。通过对连续回转电液伺服马达的理论分析,在连续回转电液伺服马达实验台上对复合控制策略进行验证,并通过C++ builder进行程序的编写。进行对阶跃响应、斜坡响应、三角波信号和正弦信号的跟踪,验证马达的各项性能。实验结果表明,连续回转马达在复合控制策略下具有良好综合性能。更多还原

【Abstract】 As an important experiment equipment for the simulation for the fight control system, the performance of flight simulation turntable play an important part for the fidelity of the aircraft simulation results. With the development of China’s modern military technology and the austerity of the international situation, it asks for a higher level of the flight simulation turntable technology. and the simulation turntable that only with electro-hydraulic servo motor drive can’t meet the requirement any more, so the performance of a new large displacement continuous rotary electro-hydraulic servo motor and its control system is studied in this paper.After a lot of the domestic and foreign literatures were reviewed, the development of simulation turntable was summarized and some key technology is introduced. According to the requirements of super-low speed, high frequency and wide speed performance indexes for the simulation turntable, the structure model of the large displacement continuous rotary electro-hydraulic servo motor was analysed. Results show that the revolution, flow and the theoretical output torque can be realized without pulsation which is necessary for the super-low speed performance for the motor.Considering to the characteristics of the motor system, the traditional mathematical model of system is established, and then the stability of the motor, open and closed loop frequency characteristics are analyzed. The least square method is used for identification of the discrete model. After the establishment of ARX mode for the discrete system, factors that impact the performance of motor are pointed out by using recognition model.Through the theory analysis of the continuous rotary electro-hydraulic servo motor, the verification experiment of composite control strategy is done in continuous rotary electro-hydraulic servo motor and the program is complied by C++ builder. In order to verify the performance of the motor, the tracks of step response signal, slope response signal, triangle wave signal and the sine signal are followed. The experimental results show that continuous rotary motor has a favorable comprehensive performance under composite control strategy.更多还原