倾转旋翼模型实验台伺服系统设计与实现
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摘要
倾转旋翼飞行器是一种兼具固定翼飞机和直升机双重飞行模式的新概念飞行器。倾转旋翼模型实验台作为航空领域中进行模拟、仿真、测试的关键设备,在倾转旋翼飞行器的研制过程中起到重要作用。它可以真实地模拟倾转旋翼飞行器在空中的各种飞行姿态,再现其运动时的动力学模型,从而对倾转旋翼飞行器的各分系统及其相应器件的性能进行模拟测试,检验被测系统或部件是否达到倾转旋翼飞行器的性能指标。
本课题以我校直升机旋翼动力学国防科技重点实验室设计的倾转旋翼模型实验台为研究背景,对其旋翼模型伺服系统的设计与实现进行研究。
本文首先分析和研究了倾转旋翼模型实验台的结构和功能,根据实验台对旋翼操纵伺服系统的技术要求,设计了一套电动旋翼操纵伺服系统,克服了原有电液伺服系统高温不稳定、体积大、系统复杂等缺点。
通过对实验台旋翼模型伺服系统的研究,建立和分析了旋翼模型伺服系统的数学模型,采用永磁同步直线电机作为执行元件,运用常规PID控制+前馈控制方法,实现了对旋翼模型作总距操纵和横向、纵向周期变距操纵,并根据结构不变性原理对由旋翼运动产生的动态载荷提出了补偿方法。
最后,应用面向对象技术,基于Windows平台的VC++6.0开发环境编写了系统测控软件,实现了系统的自检、初始化,旋翼桨距的控制,变换矩阵和试验数据的显示、存储和打印等功能,满足了系统对测控软件的要求。
Tiltrotor vehicle is a new concept of aircraft which is the combination of rotor aircraft and wing aircraft. In the aerospace research field, tiltrotor model bench plays important roles in the research and development of tiltrotor vehicle.It can simulate all kinds of tiltrotor vehicle stance and reappear its dynamic characteristice, so that the performance can be tested by simulation of tiltrotor vehicle’s subsystem and its related components; the bench can also check whether the systems or the components can fulfill the whole design performance.
The dissertation takes the tiltrotor model bench as object, and studies the design and realization of the rotor model servo system.
First of all, according to the technical indicators of the bench, an electromotion scheme of the servo system is designed. It replaces the electrohydraulic servo system and overcomes the shortcomings of the electrohydraulic servo system.
Secondly, by establishing and analyzing the tiltrotor model bench, the rotor model operation which used to drive rotor for the collective pitch control and the cyclic pitch control on the tiltrotor model bench is achieved .The PMLSM is used as an actuator, and the PID control and the feedforward control is taked.a compensation method for dynamic load which is caused by rotor rotation is presented base on structure-invarient theory.
Finally, the test control software is designed using C++ language.This software can realize these functions: system self-check, system initialization, rotor pitch control, display and save of transform matrix, document print etc.
本课题以我校直升机旋翼动力学国防科技重点实验室设计的倾转旋翼模型实验台为研究背景,对其旋翼模型伺服系统的设计与实现进行研究。
本文首先分析和研究了倾转旋翼模型实验台的结构和功能,根据实验台对旋翼操纵伺服系统的技术要求,设计了一套电动旋翼操纵伺服系统,克服了原有电液伺服系统高温不稳定、体积大、系统复杂等缺点。
通过对实验台旋翼模型伺服系统的研究,建立和分析了旋翼模型伺服系统的数学模型,采用永磁同步直线电机作为执行元件,运用常规PID控制+前馈控制方法,实现了对旋翼模型作总距操纵和横向、纵向周期变距操纵,并根据结构不变性原理对由旋翼运动产生的动态载荷提出了补偿方法。
最后,应用面向对象技术,基于Windows平台的VC++6.0开发环境编写了系统测控软件,实现了系统的自检、初始化,旋翼桨距的控制,变换矩阵和试验数据的显示、存储和打印等功能,满足了系统对测控软件的要求。
Tiltrotor vehicle is a new concept of aircraft which is the combination of rotor aircraft and wing aircraft. In the aerospace research field, tiltrotor model bench plays important roles in the research and development of tiltrotor vehicle.It can simulate all kinds of tiltrotor vehicle stance and reappear its dynamic characteristice, so that the performance can be tested by simulation of tiltrotor vehicle’s subsystem and its related components; the bench can also check whether the systems or the components can fulfill the whole design performance.
The dissertation takes the tiltrotor model bench as object, and studies the design and realization of the rotor model servo system.
First of all, according to the technical indicators of the bench, an electromotion scheme of the servo system is designed. It replaces the electrohydraulic servo system and overcomes the shortcomings of the electrohydraulic servo system.
Secondly, by establishing and analyzing the tiltrotor model bench, the rotor model operation which used to drive rotor for the collective pitch control and the cyclic pitch control on the tiltrotor model bench is achieved .The PMLSM is used as an actuator, and the PID control and the feedforward control is taked.a compensation method for dynamic load which is caused by rotor rotation is presented base on structure-invarient theory.
Finally, the test control software is designed using C++ language.This software can realize these functions: system self-check, system initialization, rotor pitch control, display and save of transform matrix, document print etc.
引文
[1] 杨军,吴希明,凡永华,袁博,倾转旋翼机飞行控制,北京,航空工业出版社,2006:1~20
[2] 周加松,倾转旋翼飞行器悬停状态下旋翼/机翼干扰研究,[硕士学位论文],南京,南京航空航空航天大学,2004
[3] 邓阳平,新概念旋转机翼飞行器旋翼技术研究,[硕士论文],西安,西北工业大学,2006
[4] 王福新,黄明其,倾转旋翼飞行器的风洞试验技术综述,实验流体力学,19(4),2005:85~89
[5] William T, Yeager JR, Contribution of the Langley Transonic Dynamics Tunnel to Rotorcraft Technology and Development, AIAA Paper 2000-1771:1~58
[6] Hormoz Tadghighi etc, a User’s Mannual for Rottilt Solver: Tiltrotor Fountain Flow Field Prediction, NASA/CR-1999-208973:88~102
[7] Gloria K, Yamauchi, etc, Flow Measurment of an Isolated Model Tilt Rotor, the AHS 55th Annual Forum, Montreal, Canada, May 25～27,1999:253~272
[8] Mark W.Nixon, Chester W.Langston, and Jeffrey D.Singleton, Aeroelastic Stability of a Soft-Inplane Gimballed Tiltrotor Model in Hover, AIAA-2001-1533:1~11
[9] McVeigh, M.A., Grauer, P.E., Paisley,D.J., Rotor/Airframe Interactions on Tiltrotor Aircraft, Journal of the American Helicopter Society, July 1990:43~51
[10] 胡佑德,曾乐生,马东升,伺服系统原理与设计,北京,北京理工大学出版社,1993:2~6
[11] 胡佑德,马东升,张莉松,伺服系统原理与设计(修订版),北京,北京理工大学出版社,1999:135~147
[12] 姜继海,苏文海,刘庆和,直流式容积控制电液伺服系统,军民两用技术与产品,2003.9:43~48
[13] 叶云岳,直线电机原理与应用,北京,机械工业出版社,2000:1~10
[14] 邹积浩,永磁直线同步电机控制策略的研究,[博士论文],杭州,浙江大学,2005
[15] 王建峰,伺服用永磁直线同步电动机的研究,[硕士论文],太原,太原理工大学,2003
[16] 肖忠祥,孟开元,尚海燕,金树波,数据采集原理,西安,西北工业大学出版社,2001:3~21
[17] 高春甫,艾学忠,微机测控技术,北京,科学出版社,2005:176~192
[18] 綦艳丽,非线性 PID 控制器在直线电机同步传动中的应用,[硕士学位论文],沈阳,沈阳工业大学,2003
[19] 王适存,直升机空气动力学,南京,南京航空航天大学出版社,1993:68~72
[20] 徐锦法,模型旋翼机动飞行试验设备测控系统及实验技术研究,[博士学位论文],南京,南京航空航天大学,1996
[21] Miller T JE, Single phase permanent magnet motor analysis, IEEE Trans,1985,IA-21(4):651~659
[22] Jie Zhou, Performance Analysis of Single-Phase Line-Start Permanent-Magnet Synchronous Motor, IEEE Trans,17(4), DEC.2002:453~462
[23] Jia ZENG,Pierre-Jean BARRE, Modeling and Thrust Control of PMLSM Using Principle of Local Energy,IEEE Electrical Machines and Systems,ICEMS 2003:26~30
[24] 李新华,周克定,新型高效率的钕铁硼单相同步电动机, 湖北工学院学报 Vol.14 NO.1,2 1999.6:12~16
[25] Nesimi Ertugrul,Christian Doudle, Dynamic Analysis of a Single-Phase Line-Starting Permanent Magnet Synchronous Motor,IEEE Power Electronics, Drives and Energy Systems for Industrial Growth, 1996:603~609
[26] CE Miller,AW Van Ayl,CF Landy, Modelling a permanent magnet linear synchronous motor for Control Purposes, IEEE Africon, 2002:671~674
[27] 李从心,基于内模滑模复合控制的直线电机高性能伺服控制研究,[博士学位论文],上海,上海交通大学,2003
[28] 陶永华,尹怡欣,葛芦生, 新型 PID 控制及其应用,北京,机械工业出版社,1998:1~26
[29] 吴志刚,液压伺服控制在直升机地面操纵系统中的应用,[硕士学位论文],南京,南京航空航天大学,2002
[30] 金成日,数字式电动伺服控制器的研制,[硕士学位论文],哈尔滨,哈尔滨工业大学,2005
[31] 刘金琨,先进 PID 控制 MATLAB 仿真(第二版),北京,电子工业出版社,2004:1~71
[32] Jang-Hwan Kim,Jong-Woo Choi,Seung-Ki Sul, High Precision Position Control of LinearPermanent Magnet Synchronous Motor for Surface Mount Device Placement System,IEEE PCC-Osaka 2002:37~42
[33] A.M.Knight,J.C.Salmon, Using a Finite Element Eddy-Current Formulation to Simulate the Performance of a Single-Phase Line-Start Permanent Magnet Machine, IEEE Canadian Conference 1999:306~311
[34] 郭淑霞,旋翼桨叶变距铰链力矩的计算方法,[硕士学位论文],南京,南京航空航天大学,1996
[35] 胡寿松,自动控制原理(第四版),北京,科学出版社,2001:219~265
[36] 陈新年,直升机旋翼负载模拟计算机控制系统研制,[硕士学位论文],西安,西北工业大学,2004
[37] Jeff Prosise, MFC Windows 程序设计(第 2 版),北京:清华大学出版社,2001:20~300
[38] 李现勇,Visual C++串口通信技术与工程实践(第 2 版),北京,人民邮电出版社,2004:1~60
[39] 汪石农,倾转旋翼模型实验台的操纵机构及控制系统设计,[硕士学位论文],南京,南京航空航天大学,2006
[40] 汲长征,基于面向对象技术的测控软件设计方法及其应用研究,[硕士学位论文],北京,北京化工大学,2004
[2] 周加松,倾转旋翼飞行器悬停状态下旋翼/机翼干扰研究,[硕士学位论文],南京,南京航空航空航天大学,2004
[3] 邓阳平,新概念旋转机翼飞行器旋翼技术研究,[硕士论文],西安,西北工业大学,2006
[4] 王福新,黄明其,倾转旋翼飞行器的风洞试验技术综述,实验流体力学,19(4),2005:85~89
[5] William T, Yeager JR, Contribution of the Langley Transonic Dynamics Tunnel to Rotorcraft Technology and Development, AIAA Paper 2000-1771:1~58
[6] Hormoz Tadghighi etc, a User’s Mannual for Rottilt Solver: Tiltrotor Fountain Flow Field Prediction, NASA/CR-1999-208973:88~102
[7] Gloria K, Yamauchi, etc, Flow Measurment of an Isolated Model Tilt Rotor, the AHS 55th Annual Forum, Montreal, Canada, May 25～27,1999:253~272
[8] Mark W.Nixon, Chester W.Langston, and Jeffrey D.Singleton, Aeroelastic Stability of a Soft-Inplane Gimballed Tiltrotor Model in Hover, AIAA-2001-1533:1~11
[9] McVeigh, M.A., Grauer, P.E., Paisley,D.J., Rotor/Airframe Interactions on Tiltrotor Aircraft, Journal of the American Helicopter Society, July 1990:43~51
[10] 胡佑德,曾乐生,马东升,伺服系统原理与设计,北京,北京理工大学出版社,1993:2~6
[11] 胡佑德,马东升,张莉松,伺服系统原理与设计(修订版),北京,北京理工大学出版社,1999:135~147
[12] 姜继海,苏文海,刘庆和,直流式容积控制电液伺服系统,军民两用技术与产品,2003.9:43~48
[13] 叶云岳,直线电机原理与应用,北京,机械工业出版社,2000:1~10
[14] 邹积浩,永磁直线同步电机控制策略的研究,[博士论文],杭州,浙江大学,2005
[15] 王建峰,伺服用永磁直线同步电动机的研究,[硕士论文],太原,太原理工大学,2003
[16] 肖忠祥,孟开元,尚海燕,金树波,数据采集原理,西安,西北工业大学出版社,2001:3~21
[17] 高春甫,艾学忠,微机测控技术,北京,科学出版社,2005:176~192
[18] 綦艳丽,非线性 PID 控制器在直线电机同步传动中的应用,[硕士学位论文],沈阳,沈阳工业大学,2003
[19] 王适存,直升机空气动力学,南京,南京航空航天大学出版社,1993:68~72
[20] 徐锦法,模型旋翼机动飞行试验设备测控系统及实验技术研究,[博士学位论文],南京,南京航空航天大学,1996
[21] Miller T JE, Single phase permanent magnet motor analysis, IEEE Trans,1985,IA-21(4):651~659
[22] Jie Zhou, Performance Analysis of Single-Phase Line-Start Permanent-Magnet Synchronous Motor, IEEE Trans,17(4), DEC.2002:453~462
[23] Jia ZENG,Pierre-Jean BARRE, Modeling and Thrust Control of PMLSM Using Principle of Local Energy,IEEE Electrical Machines and Systems,ICEMS 2003:26~30
[24] 李新华,周克定,新型高效率的钕铁硼单相同步电动机, 湖北工学院学报 Vol.14 NO.1,2 1999.6:12~16
[25] Nesimi Ertugrul,Christian Doudle, Dynamic Analysis of a Single-Phase Line-Starting Permanent Magnet Synchronous Motor,IEEE Power Electronics, Drives and Energy Systems for Industrial Growth, 1996:603~609
[26] CE Miller,AW Van Ayl,CF Landy, Modelling a permanent magnet linear synchronous motor for Control Purposes, IEEE Africon, 2002:671~674
[27] 李从心,基于内模滑模复合控制的直线电机高性能伺服控制研究,[博士学位论文],上海,上海交通大学,2003
[28] 陶永华,尹怡欣,葛芦生, 新型 PID 控制及其应用,北京,机械工业出版社,1998:1~26
[29] 吴志刚,液压伺服控制在直升机地面操纵系统中的应用,[硕士学位论文],南京,南京航空航天大学,2002
[30] 金成日,数字式电动伺服控制器的研制,[硕士学位论文],哈尔滨,哈尔滨工业大学,2005
[31] 刘金琨,先进 PID 控制 MATLAB 仿真(第二版),北京,电子工业出版社,2004:1~71
[32] Jang-Hwan Kim,Jong-Woo Choi,Seung-Ki Sul, High Precision Position Control of LinearPermanent Magnet Synchronous Motor for Surface Mount Device Placement System,IEEE PCC-Osaka 2002:37~42
[33] A.M.Knight,J.C.Salmon, Using a Finite Element Eddy-Current Formulation to Simulate the Performance of a Single-Phase Line-Start Permanent Magnet Machine, IEEE Canadian Conference 1999:306~311
[34] 郭淑霞,旋翼桨叶变距铰链力矩的计算方法,[硕士学位论文],南京,南京航空航天大学,1996
[35] 胡寿松,自动控制原理(第四版),北京,科学出版社,2001:219~265
[36] 陈新年,直升机旋翼负载模拟计算机控制系统研制,[硕士学位论文],西安,西北工业大学,2004
[37] Jeff Prosise, MFC Windows 程序设计(第 2 版),北京:清华大学出版社,2001:20~300
[38] 李现勇,Visual C++串口通信技术与工程实践(第 2 版),北京,人民邮电出版社,2004:1~60
[39] 汪石农,倾转旋翼模型实验台的操纵机构及控制系统设计,[硕士学位论文],南京,南京航空航天大学,2006
[40] 汲长征,基于面向对象技术的测控软件设计方法及其应用研究,[硕士学位论文],北京,北京化工大学,2004