新型直驱式电液伺服飞行模拟器单通道驱动装置研究
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摘要
飞行模拟器是飞行员飞行训练、飞行器开发设计的重要工具,可以大大节省训练和设计成本,同时又具有安全性、可靠性、真实性等特点。液压驱动方式由于响应快、出力大,目前已成为飞行模拟器最主要的驱动方式。直驱式电液伺服系统具有结构简单、节能环保、控制灵活的优点,受到越来越多的关注,一些国家已将直驱式电液伺服系统应用于飞行模拟器平台。
论文针对飞行模拟器所采用的液压驱动装置,研究探索了一种新型直驱式电液伺服系统,其应用于立式负载系统中,能有效平衡恒定外力的作用,节能效果明显;系统使用双联泵控制非对称缸,使泵控非称缸正反向运动特性相似,改善了控制性能;液压蓄能器的使用,使系统补油迅速,压力建立快,提高了系统的响应速度和频宽。
论文介绍了新型直驱式电液伺服系统的工作原理,分析了其节能效果,并与普通直驱式电液伺服系统对照分析了其性能、特点。按照飞行模拟器的性能指标要求,设计制造了新型直驱式电液伺服系统的实验样机,将系统中主要部件集成在阀块中,大大简化了系统结构;建立了新型直驱式电液伺服系统的数学模型,分析各项参数对系统性能的影响,并进行了仿真研究;以C++Builder为开发工具开发编写了系统控制程序;在空载和加载情况下分别对系统进行了实验研究,并对实验中出现的一些实验现象做出了分析和解释。实验结果表明系统响应快,频响高,满足飞行模拟器驱动装置的性能指标要求,并较普通直驱式电液伺服系统的性能有较大提高。
The flight simulator is an important tool for pilot training, aircraft development and design, which can greatly reduce the training and design cost, and also it has the characteristic of security, reliability, authenticity and so on. Hydraulic drive has become the main driving mode of a flight simulator because of the characteristics of fast response and large output. Direct drive volume control electro-hydraulic servo system is attracting more and more attention for its advantages of simple structure, energy-saving, environmental protection, and flexible control. It has been applied in the flight simulator platform in some countries.
This paper aimed at hydraulic driving device of flight simulator, studied and explored a new direct drive electro-hydraulic servo system, which could balance out the effects of constant external force effectively and save energy efficiently when applied to the vertical load system; This system improves the control performance effectively since the non-asymmetric cylinder is controlled by a twin pump so that it obtains similar motion characteristics either it moves forward or back. The use of hydraulic accumulators, make it quicker for oil filling and pressure build, improved the system's response speed and bandwidth.
This paper introduced the principle of the new direct drive electro-hydraulic servo system, analyzed the energy-saving effect and its performance and characteristics compare with the common direct drive electro-hydraulic servo system. In accordance with the performance requirements of a flight simulator, a test prototype of the new type of direct drive servo system has been designed and manufactured, the main components the prototype were integrated in the valve block, so that the system structure was greatly simplified. Built mathematical model of the new type of direct drive electro-hydraulic servo system, analyzed the impact of various parameters to the system performance, and did some simulation studies. Developed a system control program by means of C + + Builder. Did experimental study both with and without load, and made some analysis and interpretation to the phenomena appeared in the experiment. Experimental results show that that the system has the characteristics of fast response, high frequency response, meets the performance requirements of the flight simulator driving device, and the performance has been greatly improved compared with common direct drive electro-hydraulic servo system.
论文针对飞行模拟器所采用的液压驱动装置,研究探索了一种新型直驱式电液伺服系统,其应用于立式负载系统中,能有效平衡恒定外力的作用,节能效果明显;系统使用双联泵控制非对称缸,使泵控非称缸正反向运动特性相似,改善了控制性能;液压蓄能器的使用,使系统补油迅速,压力建立快,提高了系统的响应速度和频宽。
论文介绍了新型直驱式电液伺服系统的工作原理,分析了其节能效果,并与普通直驱式电液伺服系统对照分析了其性能、特点。按照飞行模拟器的性能指标要求,设计制造了新型直驱式电液伺服系统的实验样机,将系统中主要部件集成在阀块中,大大简化了系统结构;建立了新型直驱式电液伺服系统的数学模型,分析各项参数对系统性能的影响,并进行了仿真研究;以C++Builder为开发工具开发编写了系统控制程序;在空载和加载情况下分别对系统进行了实验研究,并对实验中出现的一些实验现象做出了分析和解释。实验结果表明系统响应快,频响高,满足飞行模拟器驱动装置的性能指标要求,并较普通直驱式电液伺服系统的性能有较大提高。
The flight simulator is an important tool for pilot training, aircraft development and design, which can greatly reduce the training and design cost, and also it has the characteristic of security, reliability, authenticity and so on. Hydraulic drive has become the main driving mode of a flight simulator because of the characteristics of fast response and large output. Direct drive volume control electro-hydraulic servo system is attracting more and more attention for its advantages of simple structure, energy-saving, environmental protection, and flexible control. It has been applied in the flight simulator platform in some countries.
This paper aimed at hydraulic driving device of flight simulator, studied and explored a new direct drive electro-hydraulic servo system, which could balance out the effects of constant external force effectively and save energy efficiently when applied to the vertical load system; This system improves the control performance effectively since the non-asymmetric cylinder is controlled by a twin pump so that it obtains similar motion characteristics either it moves forward or back. The use of hydraulic accumulators, make it quicker for oil filling and pressure build, improved the system's response speed and bandwidth.
This paper introduced the principle of the new direct drive electro-hydraulic servo system, analyzed the energy-saving effect and its performance and characteristics compare with the common direct drive electro-hydraulic servo system. In accordance with the performance requirements of a flight simulator, a test prototype of the new type of direct drive servo system has been designed and manufactured, the main components the prototype were integrated in the valve block, so that the system structure was greatly simplified. Built mathematical model of the new type of direct drive electro-hydraulic servo system, analyzed the impact of various parameters to the system performance, and did some simulation studies. Developed a system control program by means of C + + Builder. Did experimental study both with and without load, and made some analysis and interpretation to the phenomena appeared in the experiment. Experimental results show that that the system has the characteristics of fast response, high frequency response, meets the performance requirements of the flight simulator driving device, and the performance has been greatly improved compared with common direct drive electro-hydraulic servo system.
引文
1 P. Adorian, W. N. Staynes, and M. Bolton. The evolution of the flight simulator. In Proc. 50 Years of Flight Simulation. The Royal Aeronautical Society, 1979:1~24
2周自全,刘兴堂,余静.现代飞行模拟技术.国防工业出版社, 1997:102~123
3赵震炎.地面飞行模拟器的现状和发展趋势.航空学报. 1987, (10): 452
4王行仁.飞行仿真技术的现状与发展.国际航空. 1993, (4): 53~55
5王行仁.飞行仿真技术.测控技术. 1994, (2): 47~50
6梁恺.航空仿真技术.测控技术. 1998, (3): 8~10
7苏文海.电液混合动力机构及其位置控制系统研究.哈尔滨工业大学硕士论文. 2003: 6~30
8 Wang, Xudong Syrmos, Vassilis L. Fault detection, identification and estimation in the EHA system using multiple model estimation. IEEE Aerospace Conference Proceedings, 2009, 2009 IEEE Aerospace Conference
9 Misra, R.K. Datta, Chandan Mechanical behavior of unidirectional glass fibers reinforced Resol/VAC-EHA composites at different volume fraction of fibers Soft Materials, v 6, n 3-4, p 99~118, July 2008
10 Ji, Youzhe; Qi, Xiaoye; Qiu, Lihua; Wang, Zhanlin Simulation analysis of pump and valve combined EHA efficiency design Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics, v 34, n 7, p 786~789, July 2008
11 Li, Jun; Fu, Yong-Ling Comprehensive assessment method using multi-disciplinary and multi-objective functions with its application to EHA systems. Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS, v 11, n 3, p 433~437, March 2005
12 Haroun, A.A.; El-Sayed, N.H. Dyeing of chrome tanned collagen modified by in situ grafting with 2-EHA and MAC . Journal of Applied Polymer Science, v 101, n 1, p 174~179, July 5, 2006
13 Tsuyoshi Hanamoto,Hidehiro Ikeda, Teruo Tsuji, Yoshiaki Tanaka. Sensorless Speed Control of Synchronous Reluctance Motor Using RTLinux. IEEE, PCCOsaka. 2002: 699~703
14刘庆和.直接驱动容积控制液压传动原理(DDVC系统).哈尔滨工业大学. 2007, (10): 12~18
15刘庆和.电液伺服直接驱动装置.电液压技术资料简编, 1999: 1~3, 6~9
16 Anon. Frequency-controlled hydraulic drive. Elevator World, v 46, n 2, p 94-97, Feb 1998
17 ITO,H SATO,Y Maeda. Direct Drive Volume Control of Hydraulic System and its Application to the Steering System of Ship[C]. Hayama: FLUCOME'97, (1): 445~450
18 Cleasby, K. G., Plummer, A. R., 2008. A novel high efficiency electrohydrostatic flight simulator motion system. In: Fluid Power and Motion Control (FPMC 2008). UK: Centre for PTMC, pp. 437~449.
19张旭辉,刘永光,付永领.一种新颖超磁伸缩作动器的隔振模型.北京航空航天大学学报. 2007, 33(11): 1317~1320
20徐步力,付永领.一种新型电液作动系统.机床与液压. 2002, (5): 52~53
21王占林.非对称缸伺服系统的理论研究.机床与液压. 1987, (2): 36~41
22权龙.基于可调速电动机的高动态节能型电液动力源.中国机械工程. 2003, (7): 504~509
23 Chang sheng LI, Malik Elbuluk. A Solid Mode Observer for Sensorless Control of Permanent Magnet Synchronous Motors. IEEE, 2001, (C): 1273~1278
24涂婉丽.直驱式容积控制电液伺服系统动态特性的研究.哈尔滨工业大学硕士学位论文.2005, 7: 1~3
25卢天日.直驱式电液伺服主动质量驱动系统研究.哈尔滨工业大学硕士学位论文. 2009: 18~22
26周传海.直驱容控摆缸式舵机电液伺服系统的研究.哈尔滨工业大学硕士学位论文2009: 15~18
27常虹.给水泵汽轮机直驱式电液伺服油动机的研究.哈尔滨工业大学硕士学位论文2009: 17~20
28杨灏泉飞行模拟器六自由度运动系统及其液压伺服系统的研究.哈尔滨工业大学博士学位论文. 2002: 10~12
29余国城,陈继河,陈莺.液压系统集成块的设计与制造.起重运输机械. 1999,(5): 16~19
30张燕宾. SPWM变频调速应用技术.机械工业出版社. 2002: 4~12.
31 Yuanhua Chen; Qingguang Yu; Wenhua Liu; Gangui Yan; High power induction motor VVVF drives system with IGCTs in thermal power plant. Power System Technology, 2002. Proceedings. PowerCon 2002. International Conference on, Volume 4, 13-17 Oct. 2002 vol.4: 2179 ~ 2183.
32 Jahns, T.M.; Van Nocker, R.C. Electric controls for a high-performance EHAusing an interior permanent magnet motor drive. Aerospace and Electronics Conference, 1989. NAECON 1989, Proceedings of the IEEE 1989 National, 22-26 May 1989, vol.1: 346 ~ 354.
33 Jahns, T.M, Van Nocker, R.C. High-performance EHA controls using an interior permanent magnet motor. Aerospace and Electronic Systems, IEEE Transactions on, Issue 3, May 1990, Volume 26: 534 ~ 542.
34 Anderson, J.A. Variable displacement electro-hydrostatic actuator. Aerospace and Electronics Conference, 1991. NAECON 1991., Proceedings of the IEEE 1991 National, 20-24 May 1991, vol.2: 529 ~ 534.
35吴安顺.最新实用交流调速系统.机械工业出版社, 1998; 6: 1~17.
36罗勇武,周剑,黎勉,查晓春.液压变频调速系统数学模型的分析.现代制造工程. 2001, (11): 53~55
37彭天好,杨华勇,徐兵.变频回转液压系统的动态特性仿真.机床与液压. 2001, (3): 7~9
38战兴群,张炎华,赵克定.二次调节系统中液压蓄能器数学模型的研究.中国机械工程.第12卷增刊2001,(5):45-46
39王栋梁,李洪人,张景春.非对称阀控制非对称缸的分析研究.济南大学学报(自然科学版), 2003, (2):118-121
40李壮云.液压元件与系统.机械工业出版社. 2005:92~93
41 Narukawa, Kyoko. Zhang, Feifei; Ito, Masanori A new concept of diesel engine fuel injection system with DDVC hydraulic actuator 2008 International Conference on Control, Automation and Systems, ICCAS 2008, p 284~289, 2008,
42 Haginiwa, Ai. Sanada, Kazushi A noble fuel injection using DDVC for marine diesel engines Proceedings of the SICE Annual Conference, p 3003~3007, 2008, Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
43 Ai, Desheng; Kang, Shinhoo Synthesis of Ni nanopowders using an EHA system Materials Transactions, v 47, n 8, p 2056~2059, August 2006
44 Jahns, Thomas M.; Van Nocker, Richard C. High-performance EHA controls using an interior permanent magnet motor .IEEE Transactions on Aerospace and Electronic Systems, v 26, n 3, p 534~542, May 1990
45 Ma, Jiming; Fu, Yongling Fault tolerant architecture design of EHA Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics, v 33, n 8, p 920~924, August 2007
46张燕宾. SPWM变频调速应用技术.机械工业出版社. 2002: 4~12.
47李洪人.液压控制系统.国防工业出版社, 1990: 83~87
48马纪明,付永领,李军,高波.一体化电动静液作动器(EHA)的设计与仿真分析.航空学报. 2005,(1):79-83
49刘庆和,新型高效电动静压飞行模拟器运动系统,机床与液压, 2010, (1):43-45
50 Alden, R. C-141 and C-130 power-by-wire flight control systems. Aerospace and Electronics Conference, 1991. NAECON 1991, Proceedings of the IEEE 1991 National, 20-24 May 1991, vol.2:535 ~539
51 B. K. Bose. Fuzzy Logic and Neural Networks in Power Electronics and Drives. IEEE, 2000, (3): 57~63
2周自全,刘兴堂,余静.现代飞行模拟技术.国防工业出版社, 1997:102~123
3赵震炎.地面飞行模拟器的现状和发展趋势.航空学报. 1987, (10): 452
4王行仁.飞行仿真技术的现状与发展.国际航空. 1993, (4): 53~55
5王行仁.飞行仿真技术.测控技术. 1994, (2): 47~50
6梁恺.航空仿真技术.测控技术. 1998, (3): 8~10
7苏文海.电液混合动力机构及其位置控制系统研究.哈尔滨工业大学硕士论文. 2003: 6~30
8 Wang, Xudong Syrmos, Vassilis L. Fault detection, identification and estimation in the EHA system using multiple model estimation. IEEE Aerospace Conference Proceedings, 2009, 2009 IEEE Aerospace Conference
9 Misra, R.K. Datta, Chandan Mechanical behavior of unidirectional glass fibers reinforced Resol/VAC-EHA composites at different volume fraction of fibers Soft Materials, v 6, n 3-4, p 99~118, July 2008
10 Ji, Youzhe; Qi, Xiaoye; Qiu, Lihua; Wang, Zhanlin Simulation analysis of pump and valve combined EHA efficiency design Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics, v 34, n 7, p 786~789, July 2008
11 Li, Jun; Fu, Yong-Ling Comprehensive assessment method using multi-disciplinary and multi-objective functions with its application to EHA systems. Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS, v 11, n 3, p 433~437, March 2005
12 Haroun, A.A.; El-Sayed, N.H. Dyeing of chrome tanned collagen modified by in situ grafting with 2-EHA and MAC . Journal of Applied Polymer Science, v 101, n 1, p 174~179, July 5, 2006
13 Tsuyoshi Hanamoto,Hidehiro Ikeda, Teruo Tsuji, Yoshiaki Tanaka. Sensorless Speed Control of Synchronous Reluctance Motor Using RTLinux. IEEE, PCCOsaka. 2002: 699~703
14刘庆和.直接驱动容积控制液压传动原理(DDVC系统).哈尔滨工业大学. 2007, (10): 12~18
15刘庆和.电液伺服直接驱动装置.电液压技术资料简编, 1999: 1~3, 6~9
16 Anon. Frequency-controlled hydraulic drive. Elevator World, v 46, n 2, p 94-97, Feb 1998
17 ITO,H SATO,Y Maeda. Direct Drive Volume Control of Hydraulic System and its Application to the Steering System of Ship[C]. Hayama: FLUCOME'97, (1): 445~450
18 Cleasby, K. G., Plummer, A. R., 2008. A novel high efficiency electrohydrostatic flight simulator motion system. In: Fluid Power and Motion Control (FPMC 2008). UK: Centre for PTMC, pp. 437~449.
19张旭辉,刘永光,付永领.一种新颖超磁伸缩作动器的隔振模型.北京航空航天大学学报. 2007, 33(11): 1317~1320
20徐步力,付永领.一种新型电液作动系统.机床与液压. 2002, (5): 52~53
21王占林.非对称缸伺服系统的理论研究.机床与液压. 1987, (2): 36~41
22权龙.基于可调速电动机的高动态节能型电液动力源.中国机械工程. 2003, (7): 504~509
23 Chang sheng LI, Malik Elbuluk. A Solid Mode Observer for Sensorless Control of Permanent Magnet Synchronous Motors. IEEE, 2001, (C): 1273~1278
24涂婉丽.直驱式容积控制电液伺服系统动态特性的研究.哈尔滨工业大学硕士学位论文.2005, 7: 1~3
25卢天日.直驱式电液伺服主动质量驱动系统研究.哈尔滨工业大学硕士学位论文. 2009: 18~22
26周传海.直驱容控摆缸式舵机电液伺服系统的研究.哈尔滨工业大学硕士学位论文2009: 15~18
27常虹.给水泵汽轮机直驱式电液伺服油动机的研究.哈尔滨工业大学硕士学位论文2009: 17~20
28杨灏泉飞行模拟器六自由度运动系统及其液压伺服系统的研究.哈尔滨工业大学博士学位论文. 2002: 10~12
29余国城,陈继河,陈莺.液压系统集成块的设计与制造.起重运输机械. 1999,(5): 16~19
30张燕宾. SPWM变频调速应用技术.机械工业出版社. 2002: 4~12.
31 Yuanhua Chen; Qingguang Yu; Wenhua Liu; Gangui Yan; High power induction motor VVVF drives system with IGCTs in thermal power plant. Power System Technology, 2002. Proceedings. PowerCon 2002. International Conference on, Volume 4, 13-17 Oct. 2002 vol.4: 2179 ~ 2183.
32 Jahns, T.M.; Van Nocker, R.C. Electric controls for a high-performance EHAusing an interior permanent magnet motor drive. Aerospace and Electronics Conference, 1989. NAECON 1989, Proceedings of the IEEE 1989 National, 22-26 May 1989, vol.1: 346 ~ 354.
33 Jahns, T.M, Van Nocker, R.C. High-performance EHA controls using an interior permanent magnet motor. Aerospace and Electronic Systems, IEEE Transactions on, Issue 3, May 1990, Volume 26: 534 ~ 542.
34 Anderson, J.A. Variable displacement electro-hydrostatic actuator. Aerospace and Electronics Conference, 1991. NAECON 1991., Proceedings of the IEEE 1991 National, 20-24 May 1991, vol.2: 529 ~ 534.
35吴安顺.最新实用交流调速系统.机械工业出版社, 1998; 6: 1~17.
36罗勇武,周剑,黎勉,查晓春.液压变频调速系统数学模型的分析.现代制造工程. 2001, (11): 53~55
37彭天好,杨华勇,徐兵.变频回转液压系统的动态特性仿真.机床与液压. 2001, (3): 7~9
38战兴群,张炎华,赵克定.二次调节系统中液压蓄能器数学模型的研究.中国机械工程.第12卷增刊2001,(5):45-46
39王栋梁,李洪人,张景春.非对称阀控制非对称缸的分析研究.济南大学学报(自然科学版), 2003, (2):118-121
40李壮云.液压元件与系统.机械工业出版社. 2005:92~93
41 Narukawa, Kyoko. Zhang, Feifei; Ito, Masanori A new concept of diesel engine fuel injection system with DDVC hydraulic actuator 2008 International Conference on Control, Automation and Systems, ICCAS 2008, p 284~289, 2008,
42 Haginiwa, Ai. Sanada, Kazushi A noble fuel injection using DDVC for marine diesel engines Proceedings of the SICE Annual Conference, p 3003~3007, 2008, Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
43 Ai, Desheng; Kang, Shinhoo Synthesis of Ni nanopowders using an EHA system Materials Transactions, v 47, n 8, p 2056~2059, August 2006
44 Jahns, Thomas M.; Van Nocker, Richard C. High-performance EHA controls using an interior permanent magnet motor .IEEE Transactions on Aerospace and Electronic Systems, v 26, n 3, p 534~542, May 1990
45 Ma, Jiming; Fu, Yongling Fault tolerant architecture design of EHA Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics, v 33, n 8, p 920~924, August 2007
46张燕宾. SPWM变频调速应用技术.机械工业出版社. 2002: 4~12.
47李洪人.液压控制系统.国防工业出版社, 1990: 83~87
48马纪明,付永领,李军,高波.一体化电动静液作动器(EHA)的设计与仿真分析.航空学报. 2005,(1):79-83
49刘庆和,新型高效电动静压飞行模拟器运动系统,机床与液压, 2010, (1):43-45
50 Alden, R. C-141 and C-130 power-by-wire flight control systems. Aerospace and Electronics Conference, 1991. NAECON 1991, Proceedings of the IEEE 1991 National, 20-24 May 1991, vol.2:535 ~539
51 B. K. Bose. Fuzzy Logic and Neural Networks in Power Electronics and Drives. IEEE, 2000, (3): 57~63