电液伺服加载系统的研究与设计

【作者】 黄勇；

【导师】 阎杰；

【作者基本信息】 西北工业大学 ， 导航、制导与控制， 2002， 硕士

【摘要】 电液伺服加载系统是半实物仿真实验室中模拟导弹等飞行器在飞行中舵面所受空气动力载荷的重要设备，它是飞行器大回路半实物仿真系统的重要组成部分。随着国防工业的发展及新型武器系统研制的需要，各相关研究院所对电液伺服加载系统的需求越来越多，并且对其性能指标要求也越来越高。本文的目的就是针对现阶段对电液伺服加载系统提出的进一步有效抑制多余力矩和展宽系统频带等要求，分析和研究影响其性能的主要因素，以找出满足要求的解决方法。 本文重点研究了电液伺服加载系统的建模，并对所建模型进行相关的数字仿真，在此基础之上设计了一个电液伺服加载系统的实验样机。本文的主要工作有以下几个方面： (1)对电液伺服加载系统进行建模，给出了相对统一的模型结构形式； (2)对所建模型进行数字仿真，讨论了引起多余力矩的机理，针对电液伺服加载系统的特点，设计了系统的PID控制器，并利用不变性原理讨论了由舵机运动引起的多余力矩的补偿技术； (3)从模型出发，分析了舵机系统与加载系统之间连接刚度在加载系统中的作用，讨论了加载梯度对加载性能的影响； (4)给出了实验样机系统中电控系统的详细方案设计和计算机控制系统的初步方案设计，并对系统精度进行了估算； (5)根据实验样机电控系统的方案，完成了全部电路系统的设计和加工制造。更多还原

【Abstract】 Electro-hydraulic servo loading system (EHSLS) is an important simulation system in hardware-in-loop flight simulation laboratory, which can simulate aerodynamic loads acting on flight vehicle, such as missiles, planes. It is one of most important devices in the whole flight vehicle simulation system. Aiming at the demand of how to decrease disturbance torque and how to extend loading system’s frequency band, this thesis analyses the EHSLS and finds some factors which can influence the system’s performance.In this thesis, EHSLS’s mathematical model is established. Then, digital simulation and analysis about system is carried out. Last, a prototype equipment is designed to prove conclusion which is achieved from model analysis in theory. The contributions are as follows:(1) Establish the system’s mathematical model and get relatively uniform structure of model.(2) According to digital simulation about system, the reason to produce disturbance torque is described. Then, PID control strategy is proposed and invariance theory is introduced to decrease the disturbance torque which is caused by motion of loaded object.(3) Based on system model, influence of connection stiffness which links the loading system and steering system is analyzed, and influence of loading grads is discussed.(4) The electric control system and computer control system about prototype equipment is designed. Then, precision of the equipment is roughly estimated.(5) By means of project of electric control system, the design and manufacture of all circuit is accomplished.更多还原