摘要
伺服加载系统是仿真实验的重要设备,能够真实地反映出产品的实际性能。其本质上是一种被动式力矩伺服系统。本文为飞行器舵机设计了一套舵机伺服加载系统,其功能是在实验室条件下复现飞行器的舵面在空中所受的载荷,从而检测飞行器舵机系统的性能指标。主要完成了以下研究工作:
首先,本文对加载系统进行了全面深入的调查研究,重点分析了电动加载系统工作原理。为了消除多余力的影响,并结合本伺服加载系统的需要,完成了用弹簧片对舵机进行加载的伺服加载系统总体方案设计,主要包括硬件设计和软件规划以及各种装置的选型。其次,针对伺服电机系统高精度、高实时性的要求,按照灵活实用的设计思路,完成了加载控制器CPLD的设计,使得控制器具有优良的快速性和可靠性。并顺利完成了电路设计和调试工作。在上述工作的基础上,本文设计了加载系统的部分软件,并结合虚拟仪器设计软件LabWindows/CVI设计出切实可用、界面友好的虚拟仪器控制面板,为测试过程中的数据分析和处理提供了有利的条件。
然后,通过对加载系统复杂数学模型的建立,分析了加载系统中的控制方法问题。并针对刚度闭环系统运用Matlab软件进行了系统的控制仿真研究。
最后,对已经完成的加载系统部分功能模块进行了实验结果验证。实验结果表明:本文设计的舵机变刚度伺服加载系统的软硬件平台结构简单、控制方便,能够显著提高伺服加载系统的性能,达到了舵机的变刚度加载要求。
The servo loading system is an important equipment for the simulated experiment, it can factually reflect the actual performance of the product. In essence it is a kind of passive force servo system. In this paper a actuator servo loading system is designed for the aircraft actuator, its function is reappearance the load which the actuator of the aircraft received, so as to check the performance of the actuator system. Following jobs are mostly finished in this paper:
Firstly, this article conducted a thorough investigation and study of the loading system, analyzed the operating principle of electrically loading system with emphasis. To avoid the influence of the additional torque and according to the need for this servo loading system, it had presented a overall design of servo loading system, which uses the spring to achieve actuator loading. It included selection of all devices and design of hardware and layout of software. Secondly, considering the high accuracy and high demand for real-time of the electrically operated system, and following the agility and utility design route, we completed the design of the CPLD controller and the design and debugging of the circuit, which enable the controller good performance of speed and reliability. According to the upper work partial software of the loading system was designed. Combining with the software LabWindows/CVI for Virtual Instrument, an useable and friendly control panel of Virtual Instrument had been designed for the testing parameter in system, and it provided an advantaged condition for the data analysis and deal with of the testing process.
Then, by the complex mathematical model of the loading system, it analyzed the problem of the control of the loading system. At last the model of rigidity closed loop system was simulated with Matlab.
Finally, this paper used the experiment result to validate the finished function module of the loading system. Experiment result indicated: the software and hardware platform of the variational rigidity servo loading system which had been designed in this paper had simple structure and the convenience of control, it can also remarkably enhance the performance of the servo loading system and achieve the require of variational rigidity loading.
引文
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