旋转舵机电动式自动化加载测试系统的研制
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摘要
舵机的性能直接决定了飞行器在飞行过程中的动态品质。对舵机进行方便、有效的加载测试近几年成为该领域的研究重点。舵机加载测试系统就是在地面实验室条件下模拟飞行器在飞行过程中飞行控制舵面受力的装置,相比老式自破坏性全实物实验具有一系列优点。
传统的舵机加载测试采用机械式、电液式、磁粉制动器式加载。机械式加载方式虽然加载精度高、结构简单,缺点是不能实现任意力函数;电液式加载方式具有精度高、力矩大的优点,但是效率低、噪音大、系统经常发生故障;磁粉制动器式加载只能模拟一般的工况扭矩。
本文测试所用的舵机是弹用旋转电动舵机,针对前述加载方式的不足,根据厂方提出的技术指标要求,研制一套旋转舵机电动式加载测试系统。
在设计过程中,对加载测试方案就行了分析,对比了两种控制电机加载的优缺点,确定了永磁直流力矩电机作为加载测试系统的执行机构;本文对力矩电机动静态特性进行了技术研究,对电机的动态频响计算公式进行了推导,并对力矩电机进行了选型分析;提出了几种加载试验台的形式并选择其中的一种作为最后方案;对台体结构及其他关键部件进行了受力分析,给出了ANSYS分析结果;设计了一套电气控制系统。
在设计了系统硬件的基础上,对系统的控制软件进行了阐述。
The performance of the actuator directly determines the aircraft’s dynamic quality in the flying process. Loading and testing the actuator conveniently and efficiently have become the key research in this area. Load-test system to the actuator is the equipment that simulates the flying control surfaces’force of the aircraft during the process of flying in the laboratory on the earth. Compared with the old self-damaged physical experiment, the load-test system has a series of advantages.
The conventional load-test way to actuator is to use the mechanical, electro-hydraulic and magnetic method. The mechanical method has a advantage of high-precision and simple structure. But it can not achieve the arbitrary function of force. The electro-hydraulic method has the advantage of high precision and high torque but with the disadvantage of low efficiency, loud noise and system’s frequent malfunction. The magnetic method can only simulate the torque under the ordinary situation.
The actuator tested in this dissertation is a rotatory actuator of missile. Aiming at the disadvantage of method mentioned above, the main task is to development a set of load-test system to the rotatory electric actuator according to the technical index.
This dissertation analyzes the load-test scheme and compares the advantage and disadvantage between the two control motor. It determines the permanent-magnet DC torque motor as the executive mechanism to the load-test system. It technically researches the dynamic and static performance of torque motor. It deduces the calculation formula to the motor’s frequency response and analyzes type selection to the motor. Also it designs several structures and chooses one of them as the final scheme. It analyzes the force to the base structure and other key components, showing the ANSYS analysis result.
On the base of designing system hardware this dissertation discusses the control software of the system.
传统的舵机加载测试采用机械式、电液式、磁粉制动器式加载。机械式加载方式虽然加载精度高、结构简单,缺点是不能实现任意力函数;电液式加载方式具有精度高、力矩大的优点,但是效率低、噪音大、系统经常发生故障;磁粉制动器式加载只能模拟一般的工况扭矩。
本文测试所用的舵机是弹用旋转电动舵机,针对前述加载方式的不足,根据厂方提出的技术指标要求,研制一套旋转舵机电动式加载测试系统。
在设计过程中,对加载测试方案就行了分析,对比了两种控制电机加载的优缺点,确定了永磁直流力矩电机作为加载测试系统的执行机构;本文对力矩电机动静态特性进行了技术研究,对电机的动态频响计算公式进行了推导,并对力矩电机进行了选型分析;提出了几种加载试验台的形式并选择其中的一种作为最后方案;对台体结构及其他关键部件进行了受力分析,给出了ANSYS分析结果;设计了一套电气控制系统。
在设计了系统硬件的基础上,对系统的控制软件进行了阐述。
The performance of the actuator directly determines the aircraft’s dynamic quality in the flying process. Loading and testing the actuator conveniently and efficiently have become the key research in this area. Load-test system to the actuator is the equipment that simulates the flying control surfaces’force of the aircraft during the process of flying in the laboratory on the earth. Compared with the old self-damaged physical experiment, the load-test system has a series of advantages.
The conventional load-test way to actuator is to use the mechanical, electro-hydraulic and magnetic method. The mechanical method has a advantage of high-precision and simple structure. But it can not achieve the arbitrary function of force. The electro-hydraulic method has the advantage of high precision and high torque but with the disadvantage of low efficiency, loud noise and system’s frequent malfunction. The magnetic method can only simulate the torque under the ordinary situation.
The actuator tested in this dissertation is a rotatory actuator of missile. Aiming at the disadvantage of method mentioned above, the main task is to development a set of load-test system to the rotatory electric actuator according to the technical index.
This dissertation analyzes the load-test scheme and compares the advantage and disadvantage between the two control motor. It determines the permanent-magnet DC torque motor as the executive mechanism to the load-test system. It technically researches the dynamic and static performance of torque motor. It deduces the calculation formula to the motor’s frequency response and analyzes type selection to the motor. Also it designs several structures and chooses one of them as the final scheme. It analyzes the force to the base structure and other key components, showing the ANSYS analysis result.
On the base of designing system hardware this dissertation discusses the control software of the system.
引文
1汪军林,解付强,刘玉浩.导弹舵机的研究现状及发展趋势.飞航导弹. 2008(3):42~43
2韩红业.舵机电动力加载台控制系统设计与仿真.西北工业大学硕士论文. 2007:1~3
3刘长年.电液施力系统中的多余力,液压技术通信, 1978, 4:51~57
4朱红.舵机电动加载测试系统的研究.西北工业大学硕士论文. 2005:1~3
5崔华阳.电动舵机动态加载仿真控制方法研究,西北工业大学硕士论文. 2006:2~4
6韩红业,于云峰,刘琛.导弹舵机电动力加载台控制系统的建模与仿真.弹箭与制导学报. 2007, 27(2):26
7 K. Williams, D. Browns. Electrically Powered Actuator Design. NASA/USAF/Navy, 1997:1~5
8 Y.QFT. Force Loop Design for the Aerod Ynamie Load Simulator. IEEE transaction on Aerospace and Electronic Systems. 2001.37(4)
9李阁强,赵克定,曹建.微力矩导弹舵机负载模拟器的理论研究.中国惯性技术学报. 2005, 13(06)
10 Blickley, J. George. Servo Valve Digital Actuator. Control Engineering. 1986, 33(6):76~77
11王鑫,尉建利.电动舵机加载模拟器方案论证报告. 2005
12 H. J. Pahk, D. S. Lee. Ultra Precision Positioning System for Servo Motor-piezo Actuator Using the Dual Loop and Digital Filter Implementation. International Journal of Machine Tool and Manufacture, 2001(41):51~63
13汪首坤,王军政.导弹舵机动态加载技术.北京理工大学学报. 2007, 27(3):3~4
14 M. Ikeya, Dr. Eng. A Hydraulic Analog Loading System Utilizing a Press-Control Servo Mechanism. International Fluid Power Symposium. Symp-rosium. 1978(9):13~15
15 J. Duparre, P. Buecker, B. Goetz and T. Martin. Theoretical and Experimental Investigation of Significant Characteristic Parameters of Piezoelectric Actuators. SPIE Society of Photo-Optical Instrumentation Engineers. 2000(9):672~677
16 T.-L. Chern, Y-C. Wu. Design of Integral Variable Structure Controller and Application to Electro-hydraulic Velocity Servo Systems. IEE Proceedings-D, 1991(5): 439~444
17 The BOEING Company. 1985(10):243~250
18李本.舵机电动伺服加载系统设计与研究,西北工业大学硕士学位论文. 2006:2~4
19 H.S. Tzou. Design of a Piezoelectric Exciter/Actuator for Micro-displacement Control. Theory and Experiment, Precision Engineering. Apr. 1991,13(2):104~110
20 Product Description for an ADFL-2 Aerodynamic Fic Loader System. Contrives Goers Corporation. 1989.5
21王思刊.磁粉离合器在控制系统中的应用.电气传动自动化, 1999(04)
22刘德强.旋转电动舵机加载系统的研究,哈尔滨工业大学硕士学位论文. 2008:13
23 G. H. Kang, J. P. Hong, and G. T. Kim et al. Improved Parameter Modelling of Interior Permanent Magnet Synchronous Motor Based on Finite Element Analysis. IEEE Trans. on MAG, 2000, 36(4):1867~1871
24杨渝钦.控制电动机(第三版).北京:机械工业出版社, 1997
25 C. L. Edward, M. J. Thomas and H. L. Jeffrey. A Saturating Lumped-Parameter Model for an Interior PM Synchronous Machine. IEEE Trans., Ind. Appl., 2002, 38 (2):645~650
26樊君莉.控制电机发展及其综述.电气技术, 2006(07)
27 Theodore. Electrical Machine, Drive and power System. Pearson Education, 2002
28 Y. Wang, K. T. Chan, and C. C. Chan et al. Transient Analysis of a New Outer-Rotor Permanent-Magnet Brushless DC Drive Using Circuit-Field-Torque Coupled Time-Stepping Finite-Element Method. IEEE Trans on MAG, 2002, 38 (2):1297~1300
29 D. Ishak, Z. Q. Zhu and D. Howe. Permanent Magnet Brushless Machines with Similar Slot and Pole Numbers. IEEE Trans. Ind. Appl. 2005, 41 (2):584~590.
30汪木兰,顾绳谷.无刷直流力矩电机驱动高性能伺服系统研究.电气传动. 2001(03)
31马建敏,吕景林,黄协清,陈天宁.用ANSYS对复杂结构进行动态响应计算.机械科学与技术, 1998(06)
32 W. H. Zhu, M. B. Jun and Y. Altintas. A Fast Tool Servo Design Pprecision for Turning of Shafts on Conventional CNC Lathes. International Journal of Machine Tools and Manufacture. 2001,41(7):953~965
33 A. Woronko, J. Huang and Y. Altintas. Piezoelectric Tool Actuator for Precision Machining on Conventional CNC Turning Centers. Precision Engineering. 2003,27(4):335~345
34 J. M. Paros, L. Weisbord. How To Design a Flexurehinge. Machine Des. 1965,37(11):151~157
35黄洪钟.机械传动可靠性理论与应用.北京:中国科学技术出版社, 1998
36李培宁.机械与动力工程.北京:科学出版社, 2008
37 X. H. Zhu, Q. Wang and Z. Y. Meng. Preparation and Micro-displacement Characteristics of Piezoelectric Ceramic Actuation with FGM. Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University. 1995,29(1):20~26
38 D. Guyomar. Piezoelectric Ceramics Nonlinear Behavior: Application to Langev in Transducer. Journal de Physique. 1997,7 (6):1197~1208
39 Koganezawa et al. Development of Shear-Mode Piezoelectric Micro Actuator for Precise Head Positioning. Fuitsu. Sci. Tech. J. 2001,37(2): 212~219
40陈奎生.高精度电液伺服阀特性测试系统.机械工程. 1997(9):26~28
41邹爽.基于气动测量法的功能性棱边跳动自动测量技术的研究.哈尔滨工业大学硕士学位论文. 2008:44
2韩红业.舵机电动力加载台控制系统设计与仿真.西北工业大学硕士论文. 2007:1~3
3刘长年.电液施力系统中的多余力,液压技术通信, 1978, 4:51~57
4朱红.舵机电动加载测试系统的研究.西北工业大学硕士论文. 2005:1~3
5崔华阳.电动舵机动态加载仿真控制方法研究,西北工业大学硕士论文. 2006:2~4
6韩红业,于云峰,刘琛.导弹舵机电动力加载台控制系统的建模与仿真.弹箭与制导学报. 2007, 27(2):26
7 K. Williams, D. Browns. Electrically Powered Actuator Design. NASA/USAF/Navy, 1997:1~5
8 Y.QFT. Force Loop Design for the Aerod Ynamie Load Simulator. IEEE transaction on Aerospace and Electronic Systems. 2001.37(4)
9李阁强,赵克定,曹建.微力矩导弹舵机负载模拟器的理论研究.中国惯性技术学报. 2005, 13(06)
10 Blickley, J. George. Servo Valve Digital Actuator. Control Engineering. 1986, 33(6):76~77
11王鑫,尉建利.电动舵机加载模拟器方案论证报告. 2005
12 H. J. Pahk, D. S. Lee. Ultra Precision Positioning System for Servo Motor-piezo Actuator Using the Dual Loop and Digital Filter Implementation. International Journal of Machine Tool and Manufacture, 2001(41):51~63
13汪首坤,王军政.导弹舵机动态加载技术.北京理工大学学报. 2007, 27(3):3~4
14 M. Ikeya, Dr. Eng. A Hydraulic Analog Loading System Utilizing a Press-Control Servo Mechanism. International Fluid Power Symposium. Symp-rosium. 1978(9):13~15
15 J. Duparre, P. Buecker, B. Goetz and T. Martin. Theoretical and Experimental Investigation of Significant Characteristic Parameters of Piezoelectric Actuators. SPIE Society of Photo-Optical Instrumentation Engineers. 2000(9):672~677
16 T.-L. Chern, Y-C. Wu. Design of Integral Variable Structure Controller and Application to Electro-hydraulic Velocity Servo Systems. IEE Proceedings-D, 1991(5): 439~444
17 The BOEING Company. 1985(10):243~250
18李本.舵机电动伺服加载系统设计与研究,西北工业大学硕士学位论文. 2006:2~4
19 H.S. Tzou. Design of a Piezoelectric Exciter/Actuator for Micro-displacement Control. Theory and Experiment, Precision Engineering. Apr. 1991,13(2):104~110
20 Product Description for an ADFL-2 Aerodynamic Fic Loader System. Contrives Goers Corporation. 1989.5
21王思刊.磁粉离合器在控制系统中的应用.电气传动自动化, 1999(04)
22刘德强.旋转电动舵机加载系统的研究,哈尔滨工业大学硕士学位论文. 2008:13
23 G. H. Kang, J. P. Hong, and G. T. Kim et al. Improved Parameter Modelling of Interior Permanent Magnet Synchronous Motor Based on Finite Element Analysis. IEEE Trans. on MAG, 2000, 36(4):1867~1871
24杨渝钦.控制电动机(第三版).北京:机械工业出版社, 1997
25 C. L. Edward, M. J. Thomas and H. L. Jeffrey. A Saturating Lumped-Parameter Model for an Interior PM Synchronous Machine. IEEE Trans., Ind. Appl., 2002, 38 (2):645~650
26樊君莉.控制电机发展及其综述.电气技术, 2006(07)
27 Theodore. Electrical Machine, Drive and power System. Pearson Education, 2002
28 Y. Wang, K. T. Chan, and C. C. Chan et al. Transient Analysis of a New Outer-Rotor Permanent-Magnet Brushless DC Drive Using Circuit-Field-Torque Coupled Time-Stepping Finite-Element Method. IEEE Trans on MAG, 2002, 38 (2):1297~1300
29 D. Ishak, Z. Q. Zhu and D. Howe. Permanent Magnet Brushless Machines with Similar Slot and Pole Numbers. IEEE Trans. Ind. Appl. 2005, 41 (2):584~590.
30汪木兰,顾绳谷.无刷直流力矩电机驱动高性能伺服系统研究.电气传动. 2001(03)
31马建敏,吕景林,黄协清,陈天宁.用ANSYS对复杂结构进行动态响应计算.机械科学与技术, 1998(06)
32 W. H. Zhu, M. B. Jun and Y. Altintas. A Fast Tool Servo Design Pprecision for Turning of Shafts on Conventional CNC Lathes. International Journal of Machine Tools and Manufacture. 2001,41(7):953~965
33 A. Woronko, J. Huang and Y. Altintas. Piezoelectric Tool Actuator for Precision Machining on Conventional CNC Turning Centers. Precision Engineering. 2003,27(4):335~345
34 J. M. Paros, L. Weisbord. How To Design a Flexurehinge. Machine Des. 1965,37(11):151~157
35黄洪钟.机械传动可靠性理论与应用.北京:中国科学技术出版社, 1998
36李培宁.机械与动力工程.北京:科学出版社, 2008
37 X. H. Zhu, Q. Wang and Z. Y. Meng. Preparation and Micro-displacement Characteristics of Piezoelectric Ceramic Actuation with FGM. Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University. 1995,29(1):20~26
38 D. Guyomar. Piezoelectric Ceramics Nonlinear Behavior: Application to Langev in Transducer. Journal de Physique. 1997,7 (6):1197~1208
39 Koganezawa et al. Development of Shear-Mode Piezoelectric Micro Actuator for Precise Head Positioning. Fuitsu. Sci. Tech. J. 2001,37(2): 212~219
40陈奎生.高精度电液伺服阀特性测试系统.机械工程. 1997(9):26~28
41邹爽.基于气动测量法的功能性棱边跳动自动测量技术的研究.哈尔滨工业大学硕士学位论文. 2008:44