摆杆刚度对连接器自动对接控制系统影响分析
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摘要
该文建立了连接器自动对接装置液压伺服控制系统在刚性基座、柔性基座两种不同工况下的数学模型,并分别进行仿真了分析。依据仿真结果,摆杆刚度对控制稳定性和控制精度有较大影响;特别是在大风环境,摆杆、火箭在风载作用下加速摆动,二者间有一定相对运动速度,摆杆刚度对控制系统的动态跟踪精度影响更加明显。并由此得出,控制系统采用阀控液压缸方式时,摆杆必须满足必要的刚度条件。该文可对采用阀控液压缸方式实现连接器自动对接装置或各类底座刚性较差的类似产品的控制系统设计提供参考。
This paper establish two different mathematical models of connector's auto-docking control system which are based on the flexible base and the stiff base, then the system positional errors and velocity errors are simulated to determine the influence of unbilical arms' rigidity on the stability and percision of this two systems. Especially in the wind environment, swing rod and Rocket under the action of wind load accelerated swing, Control accuracy will get worse. It is concluded that when the control system adopts valve control hydraulic cylinder, the pendulum must meet the necessary stiffness condition. The analysed and simulated results can be references for designing connector's autodocking control system which uses valve control system or other similar products which has poor stiffness base.
This paper establish two different mathematical models of connector's auto-docking control system which are based on the flexible base and the stiff base, then the system positional errors and velocity errors are simulated to determine the influence of unbilical arms' rigidity on the stability and percision of this two systems. Especially in the wind environment, swing rod and Rocket under the action of wind load accelerated swing, Control accuracy will get worse. It is concluded that when the control system adopts valve control hydraulic cylinder, the pendulum must meet the necessary stiffness condition. The analysed and simulated results can be references for designing connector's autodocking control system which uses valve control system or other similar products which has poor stiffness base.
引文
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[6]郝小星,王旭平.基于滑模自适应控制的电液位置伺服系统低速性能改善[J].液压与气动,2015,(1):39-43.
[7]余洋,石博强,侯友山.结构刚度对液压伺服系统稳定性影响分析[J].农业工程学报,2011,(增刊2):32-35.
[8]刘勋,刘玉,李新有,等.液压伺服控制系统的液压弹簧刚度和机械负载刚度耦合特性分析[J].钢铁技术,2012,(2):47-51.
[2]白文龙,李泳峄,翟旺,等.运载火箭连接器自动对接技术应用分析[J].导弹与航天运载技术,2017,(6):65-71.
[3]唐中一,于今,顾庆祥.复合传动与控制[M].重庆:重庆大学出版社,2014:162.
[4]郭洪波,水涌涛,李磊,等.阀控液压缸动力机构通用传递函数建模与分析[J].液压气动与密封,2018,(2):22-25.
[5]丘铭军,郭星良,宁博,等.基于Simulink的普通方向阀控制液压缸位置闭环系统的建模仿真与实验研究[J].液压气动与密封,2017,(1):50-52.
[6]郝小星,王旭平.基于滑模自适应控制的电液位置伺服系统低速性能改善[J].液压与气动,2015,(1):39-43.
[7]余洋,石博强,侯友山.结构刚度对液压伺服系统稳定性影响分析[J].农业工程学报,2011,(增刊2):32-35.
[8]刘勋,刘玉,李新有,等.液压伺服控制系统的液压弹簧刚度和机械负载刚度耦合特性分析[J].钢铁技术,2012,(2):47-51.