飞控系统液压作动器动态仿真及密封性能分析
|
摘要
伺服作动分系统是飞行控制系统中必不可少的组成部分,作为执行机构,它按照计算机指令驱动舵面实现对飞机的控制。伺服作动分系统的性能直接影响飞机飞行控制系统的性能。
本论文以某型号飞机飞行控制系统中的往复式液压作动器为研究对象,针对其存在的漏液问题,以研究密封件故障为切入点,充分运用计算机仿真技术,采用多学科交叉对故障的影响因素和成因机理进行系统的研究。本文的主要研究工作如下:
首先,对液压作动器在工作过程可能出现的故障现象进行了系统分析并建立了故障树,确定出了存在漏液问题的主要故障现象,进而运用有限元软件ANSYS对密封圈的结构性能进行了系统的分析,给出了各种因素对密封性能的影响规律,为密封装置可靠性分析和故障预测提供理论依据。
其次,根据大变形物体的有限元分析原理、计算多体动力学基本原理及接触力计算原理,通过运用有限元分析软件ANSYS及机械动力学分析软件ADAMS联合建模的方法,建立了具有非理想约束的作动器虚拟样机仿真模型,实现了对液压作动器的动态性能进行各种因素的综合仿真分析。
最后,利用液压伺服作动器的虚拟样机平台,对影响密封装置密封性能的零件加工误差和运动配副的装配误差等因素进行了较为系统地分析,并给出了相应变化规律和影响趋势,为设计高可靠性液压作动器提供有效的理论分析依据。
Servo actuator subsystem is essential for the flight control system components, as the implementing agency, which follows the computer order-driven control surfaces to achieve controlling the aircraft. The performance of the Servo actuator subsystem directly affects the aircraft flight control system.
In this paper, it mainly research on a type of aircraft flight control system in the reciprocating servo actuators, for its leakage problems, the entry point is the failure of seals, using of computer simulation technology and interdisciplinary fully, meanwhile, using many interdisciplines to systematically study in the factors and causes of failure mechanism. The main research works are as follows:
First, we systematically analyzed the hitch phenomenon maybe appear when hydraulic actuator is working, meanwhile created a fault tree, and identified the main fault phenomenon of leakage problems, then analysised the structural properties of ring Systematically with the finite element software ANSYS, given affect law of the various factors on the performance, and it offer a theory foundation for the reliability analysis and fault prediction of the sealing device.
Secondly, according to the principle of finite element analysis with large deformation of objects, the basic principles of calculating multi-body dynamics and contact forcing calculation principle, using the co-modeling method with the finite element analysis software ANSYS and mechanical dynamic analysis software ADAMS, built a actuator prototype simulation model with non-ideal constrained, and realized integrated simulation analysis on the hydraulic actuator dynamic performance with various factors
Finally, by the hydraulic servo actuator of the virtual prototype platform, and had a more systematically analysis on the spares machining error and assembly error of join space which are the influence factors in sealing performance of sealing device. And given a corresponding changing law and a impact of trends, it provide theoretical analysis effectively for designing a higher reliability hydraulic actuators.
本论文以某型号飞机飞行控制系统中的往复式液压作动器为研究对象,针对其存在的漏液问题,以研究密封件故障为切入点,充分运用计算机仿真技术,采用多学科交叉对故障的影响因素和成因机理进行系统的研究。本文的主要研究工作如下:
首先,对液压作动器在工作过程可能出现的故障现象进行了系统分析并建立了故障树,确定出了存在漏液问题的主要故障现象,进而运用有限元软件ANSYS对密封圈的结构性能进行了系统的分析,给出了各种因素对密封性能的影响规律,为密封装置可靠性分析和故障预测提供理论依据。
其次,根据大变形物体的有限元分析原理、计算多体动力学基本原理及接触力计算原理,通过运用有限元分析软件ANSYS及机械动力学分析软件ADAMS联合建模的方法,建立了具有非理想约束的作动器虚拟样机仿真模型,实现了对液压作动器的动态性能进行各种因素的综合仿真分析。
最后,利用液压伺服作动器的虚拟样机平台,对影响密封装置密封性能的零件加工误差和运动配副的装配误差等因素进行了较为系统地分析,并给出了相应变化规律和影响趋势,为设计高可靠性液压作动器提供有效的理论分析依据。
Servo actuator subsystem is essential for the flight control system components, as the implementing agency, which follows the computer order-driven control surfaces to achieve controlling the aircraft. The performance of the Servo actuator subsystem directly affects the aircraft flight control system.
In this paper, it mainly research on a type of aircraft flight control system in the reciprocating servo actuators, for its leakage problems, the entry point is the failure of seals, using of computer simulation technology and interdisciplinary fully, meanwhile, using many interdisciplines to systematically study in the factors and causes of failure mechanism. The main research works are as follows:
First, we systematically analyzed the hitch phenomenon maybe appear when hydraulic actuator is working, meanwhile created a fault tree, and identified the main fault phenomenon of leakage problems, then analysised the structural properties of ring Systematically with the finite element software ANSYS, given affect law of the various factors on the performance, and it offer a theory foundation for the reliability analysis and fault prediction of the sealing device.
Secondly, according to the principle of finite element analysis with large deformation of objects, the basic principles of calculating multi-body dynamics and contact forcing calculation principle, using the co-modeling method with the finite element analysis software ANSYS and mechanical dynamic analysis software ADAMS, built a actuator prototype simulation model with non-ideal constrained, and realized integrated simulation analysis on the hydraulic actuator dynamic performance with various factors
Finally, by the hydraulic servo actuator of the virtual prototype platform, and had a more systematically analysis on the spares machining error and assembly error of join space which are the influence factors in sealing performance of sealing device. And given a corresponding changing law and a impact of trends, it provide theoretical analysis effectively for designing a higher reliability hydraulic actuators.
引文
1刘林,飞行控制系统的分系统(精),国防工业出版社,2003。
2夏立群,谢增荣.民机作动器研究。中国航空学会2007年学术年会.
3李军,付永领,王占林.机载电静液作动系统的发展状况现状与关键技术研究.航空制造技术,2005.
4邓爱民.高可靠长寿命产品可靠性技术研究.国防学科学技术大学博士学位论文,2006.
5 Dey,D.K.,Lee,T.M.Bayes computation for life testing and reliability estimation.IEEE transactions on Reliality,1992.
6 Barnett,T.S.,Grady M.,Purdy K.et al.Exploiting defect clustering for yield and reliability prediction.Computers and Digital Techniques.IEE Proceedings,2005.
7李壮云.液压元件与系统(第2版).机械工业出版社,2006.
8邝朴生,徐福章,刘玉琴.现代机器故障诊断学.农业出版社,1991.
9洪嘉振.计算多体系统动力学.高等教育出版社,1999
10张越今,宋健.多体动力学仿真软件ADAMS理论及应用探讨.机械科学与技术,1997,16(5)
11张旭,毛恩荣.机械系统虚拟样机技术的研究与开发.中国农业大学学报,1999(2)
12杨海成.基于虚拟样机的系统仿真技术.中国机械工程,1998,9(11)
13 Chen Xin,Lin Yi. Research on the dynamics of flexible multibody system of passenger car suspension. Developments in Tire. Wheel, Steering, and Suspension Technology SAE Special Publications. SAE, Warrendale, PA, USA. 1998,1338:103-111
14 Jo Seong sik, Beale, David. Parameter estimation to improve accuracy of mechanical system simulations. Computers and Structures, 1997,65(5): 679-686
15 Belforte G, Mattiazzo G, Mauro S, Raparelli T. Dynamic simulation of a 6-DOF pneumatic telemanipulator. ISMCR '95. Proceedings of the Fourth International Symposium on asurement and Control in Robotics. 231-237
16王宗川,黄景德,王兴贵,曹立军,贾长治.基于虚拟样机的机械设备故障仿真预测技术研究.计算机测量与控制,2002.
17余新康,王健.基于ADAMS的液压系统虚拟样机.工程机械.2003.
18王勖成等.有限单元法基本原理和数值方法.北京:清华大学出版社,1997
19朱继洲.故障树原理和应用.西安交通大学出版社,1989.1
20黄迷梅,液压气动密封与泄露防治,机械工业出版社,2003。
21陈定国,Haiser H,Haas W,等. O形密封圈的有限元力学分析.机械科学与技术,2000, 19(5):740-742.
22周志鸿,张康雷,李静,等. O形橡胶密封圈应力与接触压力的有限元分析.润滑与密封,2006(4):86-89.
23 Gadla.M.S . Alternative Methods for the solution of Hyperelastic problems within compressibility . computer & Structures,1992,42(l):l~10
24 Lei Jiang and Robert J. Rogers . Combined Lagrangion Multiplier and Penalty Function Finite Element Technigue for Elastic Impact Analysis . Computer & Structures,1988,30(6):1219~1229
25沈锋钢,严永年,吴任东,等. O形橡胶密封圈静密封应力分析及密封性能研究.新技术新工艺,2007(1):22-24.
26谭晶,杨卫民,丁玉梅,等. O形橡胶密封圈密封性能的有限元分析.润滑与密封,2006(9):65-69.
27 Ju, S.H.Stone, J.J.Rowlands, R.E. A new symmetric contact element stiffness matrix for friction contact problems. Computers & Structure Volume:54,Issue:2,January 17,1995, pp.289～301
28 Sellgren,Ulf Bjorklund,Stefan Andersson, Soren. A finite element–based model of normal contact between rough surfaces. Wear Volume: 254, Issue:11, October, 2003, pp. 1180～1188
29胡殿印,王荣桥,任全彬,等.橡胶O形圈密封结构的有限元分析.北京航空航天大学学报,2005,31(5): 255-260.
30 Fired I, Johonson A R. Nonlinear computation of axisymmetric solid rubber deformation [J]. Computer Methods in Applied Mechanics and Engineering, 1998, 67: 241-253.
31 Manning A S, Blundell M V. The modeling and simulation of automotive suspension systems. Proceedings of the Thirteenth IASTED International Conference, Modeling, Identification and Control . 83-88
32 lundell M V. The use of multibody systems analysis software for an engineering student project. Proceedings of the Thirteenth IASTED International Conference, Modelling, Identification and Control . 462-466
33 Yasuzumi I, Nonami K, Kobayashi N. Machine dynamics based on theory of multi-body dynamics. Ishikawajima-Harima Heavy Industries Country of Publication:Japan. 1995
34何勇,李冬.含间隙的机构动力学研究进展.陕西理工学院学报,2006,9 (03)
35 Stromberg Niclas. A method for structural dynamic contact problems with friction and wear. International Journal for Numerical Methods in Engineering ,2003 , 58 (15) :2 371～2 385.
36 Bauchau Olivier A , Rodriguez Jesus. Modeling of Joints with Clearance in Flexible Multibody Systems. Intenational Journal of Solids and Structures ,2002 ,39 : 5210
37 Schwab A L , Meijaard J P , Meijers P. A Comparison of Revolute Joint Clearance Models in the Dynamic Analysis of Rigid and Elastic Mechanical Systems. Mechanism and Machine Theory , 2002 (37) : 8952913
38 Johnson KL. Contact Mechanics. Cambridge : Cambridge University Press , 1992
39王国庆,刘宏昭,何长安.含间隙曲柄滑块机构运动副动态磨损研究.机械强度,2006 ,28(6) :849～852
40 Pfeiffer F , Glocker Chr. Multibody Dynamics with Unilateral Contacts. Berlin : John Wiley &Sons Inc , 1996. 317
41 Glocker Ch. Formulation of Spatial Contact Situations in Rigid Multibody System. Computers Method in Applied Mechanics and Engineering , 1999 (177) :200-204
42尉立肖,刘才山.圆柱铰间隙运动学分析及动力学仿真.北京大学学报(自然科学版),2005,9(05):679~687
43 Cuadrado J, Cardenal J, Bayo E. Modeling and solution methods for efficient real-time simulation of multibody dynamics. Multibody System Dynamics. 1997,1(3):259-280
44 Cook A B, Mark S D. Multibody dynamic simulation of the rail impact test. Proceedings of the 1997 Summer Computer Simulation Conference Simulation and Modeling Technology for the Twenty-First Century. San Diego, CA, USA.1997:371-376
45 Eberhard P, Bestle D. Integrated modeling, simulation and optimization of multibody systems. Integrated Systems Engineering. A Postprint volume from the IFAC Conference. Oxford, UK.1995:83-88
46 Buhl M L Jr, Wright A D, Elliott A S. Development of a wind turbine systems dynamics model using the Automatic dynamic Analysis of Mechanical Systems (ADAMS) software, Part II: Results. Proceedings of the 16th Annual Energy - Sources Technology Conference and Exhibition. Houston, TX, USA.1993:141
2夏立群,谢增荣.民机作动器研究。中国航空学会2007年学术年会.
3李军,付永领,王占林.机载电静液作动系统的发展状况现状与关键技术研究.航空制造技术,2005.
4邓爱民.高可靠长寿命产品可靠性技术研究.国防学科学技术大学博士学位论文,2006.
5 Dey,D.K.,Lee,T.M.Bayes computation for life testing and reliability estimation.IEEE transactions on Reliality,1992.
6 Barnett,T.S.,Grady M.,Purdy K.et al.Exploiting defect clustering for yield and reliability prediction.Computers and Digital Techniques.IEE Proceedings,2005.
7李壮云.液压元件与系统(第2版).机械工业出版社,2006.
8邝朴生,徐福章,刘玉琴.现代机器故障诊断学.农业出版社,1991.
9洪嘉振.计算多体系统动力学.高等教育出版社,1999
10张越今,宋健.多体动力学仿真软件ADAMS理论及应用探讨.机械科学与技术,1997,16(5)
11张旭,毛恩荣.机械系统虚拟样机技术的研究与开发.中国农业大学学报,1999(2)
12杨海成.基于虚拟样机的系统仿真技术.中国机械工程,1998,9(11)
13 Chen Xin,Lin Yi. Research on the dynamics of flexible multibody system of passenger car suspension. Developments in Tire. Wheel, Steering, and Suspension Technology SAE Special Publications. SAE, Warrendale, PA, USA. 1998,1338:103-111
14 Jo Seong sik, Beale, David. Parameter estimation to improve accuracy of mechanical system simulations. Computers and Structures, 1997,65(5): 679-686
15 Belforte G, Mattiazzo G, Mauro S, Raparelli T. Dynamic simulation of a 6-DOF pneumatic telemanipulator. ISMCR '95. Proceedings of the Fourth International Symposium on asurement and Control in Robotics. 231-237
16王宗川,黄景德,王兴贵,曹立军,贾长治.基于虚拟样机的机械设备故障仿真预测技术研究.计算机测量与控制,2002.
17余新康,王健.基于ADAMS的液压系统虚拟样机.工程机械.2003.
18王勖成等.有限单元法基本原理和数值方法.北京:清华大学出版社,1997
19朱继洲.故障树原理和应用.西安交通大学出版社,1989.1
20黄迷梅,液压气动密封与泄露防治,机械工业出版社,2003。
21陈定国,Haiser H,Haas W,等. O形密封圈的有限元力学分析.机械科学与技术,2000, 19(5):740-742.
22周志鸿,张康雷,李静,等. O形橡胶密封圈应力与接触压力的有限元分析.润滑与密封,2006(4):86-89.
23 Gadla.M.S . Alternative Methods for the solution of Hyperelastic problems within compressibility . computer & Structures,1992,42(l):l~10
24 Lei Jiang and Robert J. Rogers . Combined Lagrangion Multiplier and Penalty Function Finite Element Technigue for Elastic Impact Analysis . Computer & Structures,1988,30(6):1219~1229
25沈锋钢,严永年,吴任东,等. O形橡胶密封圈静密封应力分析及密封性能研究.新技术新工艺,2007(1):22-24.
26谭晶,杨卫民,丁玉梅,等. O形橡胶密封圈密封性能的有限元分析.润滑与密封,2006(9):65-69.
27 Ju, S.H.Stone, J.J.Rowlands, R.E. A new symmetric contact element stiffness matrix for friction contact problems. Computers & Structure Volume:54,Issue:2,January 17,1995, pp.289～301
28 Sellgren,Ulf Bjorklund,Stefan Andersson, Soren. A finite element–based model of normal contact between rough surfaces. Wear Volume: 254, Issue:11, October, 2003, pp. 1180～1188
29胡殿印,王荣桥,任全彬,等.橡胶O形圈密封结构的有限元分析.北京航空航天大学学报,2005,31(5): 255-260.
30 Fired I, Johonson A R. Nonlinear computation of axisymmetric solid rubber deformation [J]. Computer Methods in Applied Mechanics and Engineering, 1998, 67: 241-253.
31 Manning A S, Blundell M V. The modeling and simulation of automotive suspension systems. Proceedings of the Thirteenth IASTED International Conference, Modeling, Identification and Control . 83-88
32 lundell M V. The use of multibody systems analysis software for an engineering student project. Proceedings of the Thirteenth IASTED International Conference, Modelling, Identification and Control . 462-466
33 Yasuzumi I, Nonami K, Kobayashi N. Machine dynamics based on theory of multi-body dynamics. Ishikawajima-Harima Heavy Industries Country of Publication:Japan. 1995
34何勇,李冬.含间隙的机构动力学研究进展.陕西理工学院学报,2006,9 (03)
35 Stromberg Niclas. A method for structural dynamic contact problems with friction and wear. International Journal for Numerical Methods in Engineering ,2003 , 58 (15) :2 371～2 385.
36 Bauchau Olivier A , Rodriguez Jesus. Modeling of Joints with Clearance in Flexible Multibody Systems. Intenational Journal of Solids and Structures ,2002 ,39 : 5210
37 Schwab A L , Meijaard J P , Meijers P. A Comparison of Revolute Joint Clearance Models in the Dynamic Analysis of Rigid and Elastic Mechanical Systems. Mechanism and Machine Theory , 2002 (37) : 8952913
38 Johnson KL. Contact Mechanics. Cambridge : Cambridge University Press , 1992
39王国庆,刘宏昭,何长安.含间隙曲柄滑块机构运动副动态磨损研究.机械强度,2006 ,28(6) :849～852
40 Pfeiffer F , Glocker Chr. Multibody Dynamics with Unilateral Contacts. Berlin : John Wiley &Sons Inc , 1996. 317
41 Glocker Ch. Formulation of Spatial Contact Situations in Rigid Multibody System. Computers Method in Applied Mechanics and Engineering , 1999 (177) :200-204
42尉立肖,刘才山.圆柱铰间隙运动学分析及动力学仿真.北京大学学报(自然科学版),2005,9(05):679~687
43 Cuadrado J, Cardenal J, Bayo E. Modeling and solution methods for efficient real-time simulation of multibody dynamics. Multibody System Dynamics. 1997,1(3):259-280
44 Cook A B, Mark S D. Multibody dynamic simulation of the rail impact test. Proceedings of the 1997 Summer Computer Simulation Conference Simulation and Modeling Technology for the Twenty-First Century. San Diego, CA, USA.1997:371-376
45 Eberhard P, Bestle D. Integrated modeling, simulation and optimization of multibody systems. Integrated Systems Engineering. A Postprint volume from the IFAC Conference. Oxford, UK.1995:83-88
46 Buhl M L Jr, Wright A D, Elliott A S. Development of a wind turbine systems dynamics model using the Automatic dynamic Analysis of Mechanical Systems (ADAMS) software, Part II: Results. Proceedings of the 16th Annual Energy - Sources Technology Conference and Exhibition. Houston, TX, USA.1993:141