电液负载模拟器同步结构解耦研究
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摘要
针对电液负载模拟器中的多余力矩问题,以阀控摆动马达电液负载模拟器为对象,在分析研究多余力矩产生机理及影响因素的基础上,提出一种同步结构解耦新方法,具体实现是将加载执行元件设计成复式双层结构,外层同步马达用于跟踪承载对象进行位置同步控制,内层马达用于加载,通过复式结构加载执行元件实现变被动加载为主动加载,从根本上解决了多余力矩问题。给出了复式摆动马达的参数匹配原则、密封及结构设计方案,仿真分析了内外层马达油道配流方式的合理性。最后,通过小梯度加载下电液负载模拟器性能的仿真分析验证了同步结构解耦新方法的正确性及有效性。
In order to study the extra torque problems of EHLSs,taking the valve control swing motor of EHLS as an object,a new principle of synchronous structure coupling was proposed,which was based on the analyses of the extra torque mechanism and influence factors.The concrete way was to design the load actuator into a compound bilayer structure,where the outer synchronous motor was used to track the bearing motor for position synchronization control,and the inner motor was used to load.Through the load actuator of the compound structure,the passive loads were modified into active loads,and the problems of extra torque were solved fundamentally.The principles of parameter matching,the design of the seals and the structures of the compound swing motors were given,and the rationality of the oil duct in the inner and outer motors was simulated and tested.Finally,through simulation analysis of EHLS under small gradient loading,the correctness and effectiveness of synchronous structure decoupling were verified.
In order to study the extra torque problems of EHLSs,taking the valve control swing motor of EHLS as an object,a new principle of synchronous structure coupling was proposed,which was based on the analyses of the extra torque mechanism and influence factors.The concrete way was to design the load actuator into a compound bilayer structure,where the outer synchronous motor was used to track the bearing motor for position synchronization control,and the inner motor was used to load.Through the load actuator of the compound structure,the passive loads were modified into active loads,and the problems of extra torque were solved fundamentally.The principles of parameter matching,the design of the seals and the structures of the compound swing motors were given,and the rationality of the oil duct in the inner and outer motors was simulated and tested.Finally,through simulation analysis of EHLS under small gradient loading,the correctness and effectiveness of synchronous structure decoupling were verified.
引文
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[11]岳欣,姚建勇.基于积分鲁棒的电液负载模拟器渐近跟踪控制[J].航空学报,2017,38(2):289-298.YUE Xin,YAO Jianyong.Integral Robust Based Asymptotic Tracking Control of Electro-hydraulic Load Simulator[J].Acta Aeronautica et Astronautica Sinica,2017,38(2):289-298.
[12]李成功,靳红涛,焦宗夏,等.电动负载模拟器多余力矩产生机理及抑制[J].北京航空航天大学学报,2006,32(2):204-208.LI Chenggong,JIN Hongtao,JIAO Zongxia,et al.Mechanism and Suppression of Extraneous Torque of Motor Driver Load Simulator[J].Journal of Beijing University of Aeronautics and Astronautics,2006,32(2):204-208.
[13]HAN S S,JIAO Z X,YAO J Y.Compound Velocity Synchronizing Control Strategy for Electrohydraulic Load Simulator and Its Engineering Application[J].Journal of Dynamic Systems Measurement&Control,2014,136(5):0510021-3.
[14]ZHOU G Z,GUO D,QI X Y.A Superfluous Force Suppression Method Based on Structure Invariance Principle with Particle Swarm Optimization Algorithm[J].Advanced Materials Research,2012,430/432:1877-1880.
[15]WANG C W,JIAO Z X,QUAN L.Adaptive Velocity Synchronization Compound Control of Electro-hydraulic Load Simulator[J].Aerospace Science and Technology,2015,42(9):309-321.
[16]WANG C,HOU Y L,LIU R Z,et al.Control of the Electric Load Simulator Using Fuzzy Multiresolution Wavelet Neural Network with Dynamic Compensation[J].Shock&Vibration,2016,2016(12):1-10.
[17]JING C H,XU H G,ZHENG D K.A Practical Compound Control Strategy for Electro-hydraulic Load Simulator[C]//International Conference on Fluid Power and Mechatronics.New York:IEEE,2015:1228-1233.
[18]李阁强,杨红艳,赵巧莉,等.一种电液伺服加载系统用复式液压摆动缸:中国,201310003344.3[P].2014-04-16.LI Geqiang,YANG Hongyan,ZHAO Qiaoli,et al.A Kind of Electro-hydraulic Servo Loading System with Double Swing Hydraulic Cylinder:China,201310003344.3[P].2014-04-16.
[19]杨红艳.被动式电液力伺服系统的同步解耦控制研究[D].洛阳:河南科技大学,2013:4-30.YANG Hongyan.Synchronization Decoupling Control Study of Passive Electric-hydraulic Servo System[D].Luoyang:Henan University of Science and Technology,2013:4-30.
[20]李阁强,赵巧莉,李跃松,等.电液伺服摆动马达密封结构研究[J].润滑与密封,2015,40(4):9-13.LI Geqiang,ZHAO Qiaoli,LI Yuesong,et al.Research on Sealing Structure of Electro-hydraulic Servo Swing Motor[J].Lubrication Engineering,2015,40(4):9-13.
[2]李阁强,顾永升,李健,等.被动式电液力伺服系统的自适应反步滑模控制[J].兵工学报,2017,38(3):616-624.LI Geqiang,GU Yongsheng,LI Jian,et al.Adaptive Backstepping Sliding Mode Control of Passive Electro-hydraulic Force Servo System[J].Acta Armamentarii,2017,38(3):616-624.
[3]郝经佳,赵克定,许宏光,等.双阀控制在电液负载仿真台中的应用[J].中国机械工程,2002,13(10):814-816.HAO Jingjia,ZHAO Keding,XU Hongguang,et al.The Application of Double Valve Control with Pressure and Flow Servo Valve in Electro-hydraulic Load Simulator[J].China Mechanical Engineering,2002,13(10):814-816.
[4]王经甫,叶正茂,李洪人,等.双阀并联控制在船舶舵机电液负载模拟器多余力抑制中的研究[J].机械工程学报,2005,41(4):229-233.WANG Jingfu,YE Zhengmao,LI Hongren,et al.Study on Eliminating the Superfluous Force of Marine Electrohydraulic Load Simulator Applied with Dual-valve Parallel Connected Control[J].Chinese Journal of Mechanical Engineering,2005,41(4):229-233.
[5]符文星,孙力,于云峰,等.大力矩电动负载模拟器设计与建模[J].系统仿真学报,2009,21(12):3596-3598.FU Wenxing,SUN Li,YU Yunfeng,et al.Design and Model-building of Motor-driven Load Simulator with Large Torque Outputs[J].Journal of System Simulation,2009,21(12):3596-3598.
[6]吴乐彬.基于电液伺服并联六自由度机构的广义负载模拟理论和实验研究[D].杭州:浙江大学,2010:24-43.WU Lebin.Research on Theory and Experiment of the Generalized Load Simulator Based on Electrohydraulic Parallel 6DOF Manipulator[D].Hangzhou:Zhejiang University,2010:24-43.
[7]张立勋,孟庆鑫,刘庆和,等.位置同步补偿克服负载模拟器干扰力矩及提高系统频宽的理论与实验研究[J].宇航学报,1997,18(1):121-124.ZHANG Lixun,MENG Qingxin,LIU Qinghe,et al.Experimental and Theoretic Study on Eliminating the Disturbance Torque and Widening the Frequency Band Width of the Load Simulator Using Position Synchro Compensation[J].Journal of Astronautics,1997,18(1):121-124.
[8]杨春卫,代建辉,毕树生,等.复合负载模拟器的设计与实现[J].北京航空航天大学学报,2013,39(12):1660-1664.YANG Chunwei,DAI Jianhui,BI Shusheng,et al.Design and Implementation of a Compound Load Simulator[J].Journal of Beijing University of Aeronautics and Astronautics,2013,39(12):1660-1664.
[9]李阁强,赵克定,袁锐波,等.μ理论在电液负载模拟器中的应用[J].航空学报,2007,28(1):228-233.LI Geqiang,ZHAO Keding,YUAN Ruibo,et al.Application ofμTheory in Electrohydraulic Load Simulator[J].Acta Aeronautica et Astronautica Sinica,2007,28(1):228-233.
[10]欧阳小平,李锋,朱莹,等.重载航空负载模拟器非线性最优前馈补偿控制[J].航空学报,2016,37(2):669-679.OUYANG Xiaoping,LI Feng,ZHU Ying,et al.Nonlinear Optimal Feedforward Compensation Controller for Heavy Load Aviation Load Simulator[J].Acta Aeronautica et Astronautica Sinica,2016,37(2):669-679.
[11]岳欣,姚建勇.基于积分鲁棒的电液负载模拟器渐近跟踪控制[J].航空学报,2017,38(2):289-298.YUE Xin,YAO Jianyong.Integral Robust Based Asymptotic Tracking Control of Electro-hydraulic Load Simulator[J].Acta Aeronautica et Astronautica Sinica,2017,38(2):289-298.
[12]李成功,靳红涛,焦宗夏,等.电动负载模拟器多余力矩产生机理及抑制[J].北京航空航天大学学报,2006,32(2):204-208.LI Chenggong,JIN Hongtao,JIAO Zongxia,et al.Mechanism and Suppression of Extraneous Torque of Motor Driver Load Simulator[J].Journal of Beijing University of Aeronautics and Astronautics,2006,32(2):204-208.
[13]HAN S S,JIAO Z X,YAO J Y.Compound Velocity Synchronizing Control Strategy for Electrohydraulic Load Simulator and Its Engineering Application[J].Journal of Dynamic Systems Measurement&Control,2014,136(5):0510021-3.
[14]ZHOU G Z,GUO D,QI X Y.A Superfluous Force Suppression Method Based on Structure Invariance Principle with Particle Swarm Optimization Algorithm[J].Advanced Materials Research,2012,430/432:1877-1880.
[15]WANG C W,JIAO Z X,QUAN L.Adaptive Velocity Synchronization Compound Control of Electro-hydraulic Load Simulator[J].Aerospace Science and Technology,2015,42(9):309-321.
[16]WANG C,HOU Y L,LIU R Z,et al.Control of the Electric Load Simulator Using Fuzzy Multiresolution Wavelet Neural Network with Dynamic Compensation[J].Shock&Vibration,2016,2016(12):1-10.
[17]JING C H,XU H G,ZHENG D K.A Practical Compound Control Strategy for Electro-hydraulic Load Simulator[C]//International Conference on Fluid Power and Mechatronics.New York:IEEE,2015:1228-1233.
[18]李阁强,杨红艳,赵巧莉,等.一种电液伺服加载系统用复式液压摆动缸:中国,201310003344.3[P].2014-04-16.LI Geqiang,YANG Hongyan,ZHAO Qiaoli,et al.A Kind of Electro-hydraulic Servo Loading System with Double Swing Hydraulic Cylinder:China,201310003344.3[P].2014-04-16.
[19]杨红艳.被动式电液力伺服系统的同步解耦控制研究[D].洛阳:河南科技大学,2013:4-30.YANG Hongyan.Synchronization Decoupling Control Study of Passive Electric-hydraulic Servo System[D].Luoyang:Henan University of Science and Technology,2013:4-30.
[20]李阁强,赵巧莉,李跃松,等.电液伺服摆动马达密封结构研究[J].润滑与密封,2015,40(4):9-13.LI Geqiang,ZHAO Qiaoli,LI Yuesong,et al.Research on Sealing Structure of Electro-hydraulic Servo Swing Motor[J].Lubrication Engineering,2015,40(4):9-13.