【摘要】：電動式負載力矩模擬器是用于模擬高速飛行器舵面在飛行中所承受的氣動鉸鏈力矩的半實物仿真系統(tǒng),屬于一種重要的飛行器地面性能測試裝備,在一定程度上影響著飛行器的飛行精度。多余力矩是影響負載模擬系統(tǒng)力矩加載精度的主要因素,深入研究多余力矩的產(chǎn)生機理和抑制方法具有非常重要的實際意義。本文將以高速飛行器舵面負載模擬技術(shù)為研究背景,分別從傳遞函數(shù)模型和狀態(tài)空間模型出發(fā),詳細分析多余力矩的產(chǎn)生機理并建立多余力矩的機理模型,在深入分析多余力矩動態(tài)特性的基礎(chǔ)上設(shè)計多余力矩的抑制方法,并給出完整的負載模擬系統(tǒng)控制器結(jié)構(gòu)和設(shè)計方法,最后經(jīng)過仿真和實物實驗驗證本文所提出的控制理論的正確性和可行性。首先,本文將分析負載模擬系統(tǒng)的研究背景和意義,分析有關(guān)負載模擬系統(tǒng)的國內(nèi)外研究現(xiàn)狀,分析現(xiàn)有的關(guān)于多余力矩抑制方面的研究成果和不足。其次,在建立了力矩加載側(cè)和舵機執(zhí)行機構(gòu)數(shù)學(xué)模型的基礎(chǔ)上,建立了負載模擬系統(tǒng)的綜合傳遞函數(shù)模型和狀態(tài)空間模型。通過分析多余力矩的產(chǎn)生機理,建立了多余力矩的傳遞函數(shù)模型;基于負載模擬系統(tǒng)的狀態(tài)空間模型,分析了多余力矩在該模型下的表達方法,然后分析了兩種模型的異同點。再次,通過分析多余力矩的兩種機理模型分別設(shè)計了多余力矩的抑制方法:對多余力矩的傳遞函數(shù)模型,主要分析了影響多余力矩的系統(tǒng)參數(shù)和輸入項,確定了減小多余力矩需要改變的系統(tǒng)參數(shù),并最終設(shè)計了特定的前饋控制方法;對多余力矩的狀態(tài)空間模型,設(shè)計了抑制多余力矩的解耦控制算法,給出了求取解耦算法規(guī)范型的轉(zhuǎn)換矩陣并證明了其正確性。最后,依據(jù)前述分析并基于某型負載模擬系統(tǒng)的標(biāo)稱參數(shù),完成了負載模擬系統(tǒng)控制方案的整體設(shè)計和仿真實驗,并在實物系統(tǒng)上實現(xiàn)了相關(guān)方案。仿真和實物實驗結(jié)果驗證了本課題中提出的控制方案的可行性。
[Abstract]:The electric load torque simulator is a hardware-in-the-loop simulation system used to simulate the aerodynamic hinge moment of the rudder surface of a high-speed aircraft in flight. It belongs to an important aircraft ground performance testing equipment. To some extent, it affects the flight accuracy of the aircraft. Superfluous torque is the main factor that affects the loading accuracy of load simulation system. It is of great practical significance to study the generation mechanism and suppression method of surplus torque. In this paper, based on the research background of the rudder surface load simulation technology of high-speed aircraft, the mechanism of excess torque is analyzed in detail from the transfer function model and the state space model, and the mechanism model of excess torque is established. Based on the deep analysis of the dynamic characteristics of the redundant torque, the suppression method of the redundant torque is designed, and the structure and design method of the controller of the load simulation system are given. Finally, the correctness and feasibility of the proposed control theory are verified by simulation and physical experiments. First of all, this paper will analyze the research background and significance of load simulation system, analyze the research status of load simulation system at home and abroad, and analyze the existing research results and shortcomings of redundant torque suppression. Secondly, based on the mathematical model of torque loading side and actuator, the comprehensive transfer function model and state space model of load simulation system are established. Based on the state space model of the load simulation system, the expression method of the excess torque under the model is analyzed, and the similarities and differences between the two models are analyzed. Thirdly, by analyzing two kinds of mechanism models of redundant torque, the suppression methods of redundant torque are designed: the transfer function model of redundant torque, the system parameters and input terms that affect redundant torque are analyzed. The system parameters which need to be changed to reduce the excess torque are determined, and a special feedforward control method is designed, and the decoupling control algorithm is designed for the state space model of the surplus torque. The transformation matrix of normal form of decoupling algorithm is given and its correctness is proved. Finally, according to the above analysis and based on the nominal parameters of a certain load simulation system, the overall design and simulation experiment of the control scheme of the load simulation system are completed, and the related schemes are realized in the physical system. Simulation and experimental results verify the feasibility of the proposed control scheme.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：V216.8

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本文編號：2149269