飞行模拟器操纵负荷系统关键技术及原理样机研制
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摘要
本文以研制具有自主知识产权的民航飞行模拟机、添补我国民航科技领域技术空白为目的,针对飞行模拟机操纵负荷系统原理样机研发过程中的关键技术问题,在中国民航地面特种设备研究基地和哈尔滨工业大学电液控制及仿真研究所的共同资助下,重点对操纵负荷系统的软硬件设计、力感控制策略、多余力的抑制以及系统中主要非线性因素摩擦力的影响和补偿进行了研究。通过飞行员试飞和飞行模拟机专家的论证,验证了该系统的各项功能和性能指标。论文主要研究内容和成果如下:
(1)揭示了操纵负荷系统的基本特性,论述了多余力的概念,分析了多余力产生的机理以及系统中不同环节对多余力的影响因素。
(2)提出了采用三个多段式线性模型来实现驾驶杆(盘或脚蹬)力的模拟,在原理样机的试验中获得了与真实飞机十分逼真的仿真效果。建立了操纵负荷加载系统的数学模型,对能够实现电液伺服加载控制的三种控制方式(位置闭环、速度闭环、力闭环)进行比较仿真研究,证明了力闭环控制对实现力的跟踪性能是最佳的。同时构建了多余力的数学模型,分析了影响多余力的因素。
(3)研究了操纵负荷力加载液压力伺服控制系统中液压缸存在的摩擦力问题,提出了针对双作用普通液压缸的通用摩擦力模型;提出了利用模糊自适应PID+前馈控制控制策略来抑制液压缸中摩擦力对跟踪精度、时滞的影响,仿真结果验证了该方法的有效性,较大程度地减小了跟踪误差。
(4)提出了一种以“工控机+液压伺服控制系统”为硬件平台,QNX操作系统+RT-LAB软件+MATLAB软件为软件平台的实时仿真控制系统。对操纵负荷控制系统的软硬件结构进行了研究和设计,其满足了飞行模拟器对操纵负荷系统实时性、逼真性等的要求。
(5)提出了一种复合控制策略,该策略是在主通道采用自适应模糊PID控制,次通道采用学习前馈控制的方法。该方法是基于对结构不变性原理的改进,适应于系统非线性及系统参数时变性的特点,实时更改前馈参数,更好地抑制多余力的影响。
This dissertation is written by in purpose of developing civil flight simulator and filling up the gasp of scientifical fields of civil aviation of China. In view of the key technical problem in developing process of control loading system of flight simulator, sponsored by Ground Special Equipment Study Base of CAAC and Electro-hydrualic Servo Simulation and Test System Institute of HIT. This dissertation mainly deals with software and hardware design, force control strategies, restraint of extraneous force, friction effection and compensation of the control loading system. The functions and performances of the system are verified by flight-test and experts’argumentation. The main contents and contributions of this dissertation are listed as follows:
(1) Revealing the basic characteristic of control loading system, arguing about the concept of extraneous force, analyzing the mechanism of production of extraneous force and the impact factors of extraneous force by different steps.
(2) Putting forward the force simulation of control column (panel or step) by three piecewise-linear models, with the result that the simulating effect of the simulator on principle is very close to the reality fight. Setting up the mathematic model of control loading system, comparing three control manners (position loop, velocity loop and force loop) by which the electro-hydraulic servo control can be carried out, and showing that the force loop control achieve the best performance to track the real time force. At the same time modelling the redundancy force and analyzing the impact factors.
(3) Aimed at the friction existing in hydraulic cylinder in control loading force hydraulic force servo control system, putting forward an universal friction model of double-acting cylinder, putting forward using the control strategy of fuzzy adaptive PID+feed-forward to restrain the friction’s effect to track precision and time lag. The result of simulation had validated its validity, decreasing track error greatly.
(4) Putting forward a kind of real time control simulation which hardware is industrial personal computer and software is operating system of QNX +RT-LAB+MATLAB. Researching and designing the software & hardware architecture of the control loading system, fulfilling the flight simulator’s desire to real time and fidelity of the control loading system.
(5) Putting forward a kind of control strategy which main passage is fuzzy adaptive PID control and which sub passage is learnable feed-forward control. This method is improving on the feed forward compensation, and adaptive to nonlinear of system and real-time parameters. It alters the feed-forward parameters to restrain the extraneous force better.
(1)揭示了操纵负荷系统的基本特性,论述了多余力的概念,分析了多余力产生的机理以及系统中不同环节对多余力的影响因素。
(2)提出了采用三个多段式线性模型来实现驾驶杆(盘或脚蹬)力的模拟,在原理样机的试验中获得了与真实飞机十分逼真的仿真效果。建立了操纵负荷加载系统的数学模型,对能够实现电液伺服加载控制的三种控制方式(位置闭环、速度闭环、力闭环)进行比较仿真研究,证明了力闭环控制对实现力的跟踪性能是最佳的。同时构建了多余力的数学模型,分析了影响多余力的因素。
(3)研究了操纵负荷力加载液压力伺服控制系统中液压缸存在的摩擦力问题,提出了针对双作用普通液压缸的通用摩擦力模型;提出了利用模糊自适应PID+前馈控制控制策略来抑制液压缸中摩擦力对跟踪精度、时滞的影响,仿真结果验证了该方法的有效性,较大程度地减小了跟踪误差。
(4)提出了一种以“工控机+液压伺服控制系统”为硬件平台,QNX操作系统+RT-LAB软件+MATLAB软件为软件平台的实时仿真控制系统。对操纵负荷控制系统的软硬件结构进行了研究和设计,其满足了飞行模拟器对操纵负荷系统实时性、逼真性等的要求。
(5)提出了一种复合控制策略,该策略是在主通道采用自适应模糊PID控制,次通道采用学习前馈控制的方法。该方法是基于对结构不变性原理的改进,适应于系统非线性及系统参数时变性的特点,实时更改前馈参数,更好地抑制多余力的影响。
This dissertation is written by in purpose of developing civil flight simulator and filling up the gasp of scientifical fields of civil aviation of China. In view of the key technical problem in developing process of control loading system of flight simulator, sponsored by Ground Special Equipment Study Base of CAAC and Electro-hydrualic Servo Simulation and Test System Institute of HIT. This dissertation mainly deals with software and hardware design, force control strategies, restraint of extraneous force, friction effection and compensation of the control loading system. The functions and performances of the system are verified by flight-test and experts’argumentation. The main contents and contributions of this dissertation are listed as follows:
(1) Revealing the basic characteristic of control loading system, arguing about the concept of extraneous force, analyzing the mechanism of production of extraneous force and the impact factors of extraneous force by different steps.
(2) Putting forward the force simulation of control column (panel or step) by three piecewise-linear models, with the result that the simulating effect of the simulator on principle is very close to the reality fight. Setting up the mathematic model of control loading system, comparing three control manners (position loop, velocity loop and force loop) by which the electro-hydraulic servo control can be carried out, and showing that the force loop control achieve the best performance to track the real time force. At the same time modelling the redundancy force and analyzing the impact factors.
(3) Aimed at the friction existing in hydraulic cylinder in control loading force hydraulic force servo control system, putting forward an universal friction model of double-acting cylinder, putting forward using the control strategy of fuzzy adaptive PID+feed-forward to restrain the friction’s effect to track precision and time lag. The result of simulation had validated its validity, decreasing track error greatly.
(4) Putting forward a kind of real time control simulation which hardware is industrial personal computer and software is operating system of QNX +RT-LAB+MATLAB. Researching and designing the software & hardware architecture of the control loading system, fulfilling the flight simulator’s desire to real time and fidelity of the control loading system.
(5) Putting forward a kind of control strategy which main passage is fuzzy adaptive PID control and which sub passage is learnable feed-forward control. This method is improving on the feed forward compensation, and adaptive to nonlinear of system and real-time parameters. It alters the feed-forward parameters to restrain the extraneous force better.
引文
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