【作者】 陈智明；

【导师】 赵克定；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2011， 硕士

【摘要】 高精度中空式电液伺服马达作为液压仿真转台内框的驱动元件,其性能的优劣直接影响了转台的性能和仿真精度。低速性能是中空电液伺服马达的关键技术指标之一。良好的低速性能不仅能简化整个系统的结构,也为系统实现宽调速创造了条件。因此,对中空电液伺服马达的低速性能进行深入的研究,对于提升高精度仿真转台的性能具有重要意义。本文在查阅国内外资料的基础上,综述了中空电液伺服马达的研究现状和发展趋势,概述其关键技术及其系统低速理论研究进展,确定了本文的研究方向。首先,本文通过推导中空电液伺服马达动力学方程,建立了马达的数学模型。通过对不同摩擦模型的对比分析,选用工程上常用的Stribeck摩擦模型作为分析和仿真的依据,并在此基础上对系统性能进行了分析。其次,针对中空电液伺服马达的爬行现象,对其爬行机理做详细的探讨,在此基础上进行深入的理论分析,讨论了影响马达爬行的若干因素。在控制策略上,针对马达的爬行问题,采用了传统的PID控制策略,由于马达爬行的周期性,在PID基础上引入了插入式重复控制方法,仿真结果表明,此方法能够很好地抑制马达的爬行。最后,针对理论分析的结果,本文在中空马达实验台上进行了马达低速实验。实验结果表明插入式重复控制方法能够在PID的基础上进一步改善马达的爬行,提高马达的低速性能。更多还原

【Abstract】 Hollow-axis high precision electro-hydraulic servo motor is a drive component which applied in inner frame of flight motion simulator and its performance directly determines fidelity of simulation results. Low speed performance is a key index in accessing the hollow-axis electro-hydraulic servo motor. Good performance of low speed not only simplified the structure of the flight simulation, but also offer the possibility of wide-velocity regulation. As a result, performing deep analysis on the low speed performance of the Hollow-axis electro-hydraulic servo motor plays an important role in improving the performance of the high precision flight simulation.After synthesizing large numbers of related literatures and reference materials at home and abroad, this paper summarize the outline of hollow-axis electro-hydraulic servo motor at home and abroad, introduces the key techniques and the development of the low speed theory on which the research fields are derived.Firstly, the dynamic model of the hollow-axis electro hydraulic servo motor is constructed using relevant theories on which the mathmatical model of the servo motor is derived. By means of comparison of different friction models, the Stribeck friction models is chosed as basis of further analysis on which the analysis of the performance of the system is performed.Secondly, as to the slip-stick phenomenon of the servo motor, this paper perform detailed discussion on the crawling mechanism, and the theoretical analysis is performed, and then the influence factor of the low speed is disscussed at length and the Matlab simultion is also performed.Regarding to the controll strategy, the PID control means is applied, and considering the periodicity of the slip-stick, the plug in repetitive control means is also adopted, the result of the simulation shows that the plug in repetitive control means can restrain the slip-stick phenomenon effetively.Finally, as to the result of the theoretical analysis, experiment is performed on the servo motor laboratory table which shows that the plug in repetitive control means can make further improvements on the slip-stick phenomenon.更多还原