【摘要】：本文圍繞飛行過(guò)載與飛行姿態(tài)仿真的技術(shù)問(wèn)題,將三軸飛行模擬轉(zhuǎn)臺(tái)與離心機(jī)結(jié)合,提出一種新型飛行過(guò)載模擬器。并且對(duì)飛行過(guò)載與飛行姿態(tài)耦合后進(jìn)行了飛行過(guò)載模擬器的動(dòng)力學(xué)分析,然后建立了飛行過(guò)載模擬器的動(dòng)力學(xué)模型,并且分析了飛行過(guò)載模擬器的轉(zhuǎn)矩耦合問(wèn)題及驗(yàn)證解耦的可行性和有效性,最后將飛行過(guò)載與飛行姿態(tài)耦合后的模型進(jìn)行了仿真,并且對(duì)仿真結(jié)果進(jìn)行了分析。論文主要工作如下:首先,介紹了本論文的課題來(lái)源和研究背景,提出了本文所研究問(wèn)題的必要性和意義。具體介紹了國(guó)內(nèi)外三軸飛行轉(zhuǎn)臺(tái)和離心機(jī)的研究成果,給出了飛行過(guò)載模擬器的研究綜述。其次,介紹了飛行過(guò)載模擬器的系統(tǒng)組成及安裝設(shè)計(jì)。指出三軸飛行模擬轉(zhuǎn)臺(tái)的功能是根據(jù)計(jì)算機(jī)的指令,實(shí)時(shí)跟隨指令信號(hào),通過(guò)控制轉(zhuǎn)臺(tái)滾動(dòng)、俯仰、航向軸系運(yùn)動(dòng),來(lái)模擬姿態(tài)角變化,達(dá)到對(duì)飛行器的姿態(tài)仿真的作用。并且進(jìn)一步對(duì)其驅(qū)動(dòng)裝置的選擇和結(jié)構(gòu)設(shè)計(jì)進(jìn)行了分析。介紹了離心機(jī)的工作原理。介紹了兩種飛行過(guò)載模擬器,給出了結(jié)構(gòu)圖,并做出了簡(jiǎn)單的介紹。搭建出飛行過(guò)載模擬器的結(jié)構(gòu)以后,就可以對(duì)其進(jìn)行動(dòng)力學(xué)分析。再次,主要進(jìn)行飛行過(guò)載和飛行姿態(tài)的動(dòng)力學(xué)分析,關(guān)鍵問(wèn)題在于搭建在過(guò)載情況下飛行姿態(tài)仿真的模型。核心部分是搭建飛行過(guò)載模擬器的動(dòng)力學(xué)方程。對(duì)三軸飛行模擬轉(zhuǎn)臺(tái)的動(dòng)力學(xué)進(jìn)行了分析,其中包括坐標(biāo)變換,轉(zhuǎn)矩方程,環(huán)軸間傳遞的耦合轉(zhuǎn)矩方程的建立。對(duì)三軸飛行模擬轉(zhuǎn)臺(tái)的內(nèi)框架、中框架及外框架控制模型進(jìn)行建模,得到三個(gè)框架的動(dòng)力學(xué)方程。對(duì)飛行過(guò)載模擬器的摩擦轉(zhuǎn)矩進(jìn)行分析,找到由重力及離心力產(chǎn)生的摩擦轉(zhuǎn)矩的方程,最終得到飛行過(guò)載模擬器的動(dòng)力學(xué)方程。還有,應(yīng)用NARX神經(jīng)網(wǎng)絡(luò)解決了飛行過(guò)載模擬器軸間的轉(zhuǎn)矩耦合。給出了飛行過(guò)載模擬器的一般性動(dòng)力學(xué)模型,并且驗(yàn)證了模型的可逆性。這是使用NARX神經(jīng)網(wǎng)絡(luò)解耦控制的先決條件。IMC策略介紹如何實(shí)現(xiàn)解耦控制,在NARX神經(jīng)網(wǎng)絡(luò)中用于識(shí)別飛行過(guò)載模擬器的逆模型。提出了一個(gè)合適的實(shí)時(shí)學(xué)習(xí)校正算法訓(xùn)練的神經(jīng)網(wǎng)絡(luò),保證了網(wǎng)絡(luò)的收斂性。提出的解耦控制理論是對(duì)飛行過(guò)載模擬器的應(yīng)用程序進(jìn)行測(cè)試。應(yīng)用程序演示的結(jié)果證明了NARX神經(jīng)網(wǎng)絡(luò)解耦控制在飛行過(guò)載模擬器三個(gè)軸解耦控制上的有效性。最后,完成了對(duì)不同過(guò)載情況下飛行姿態(tài)進(jìn)行仿真實(shí)驗(yàn)的研究,并且對(duì)仿真圖形進(jìn)行了分析和對(duì)比,得出了過(guò)載量越大導(dǎo)致姿態(tài)角越小的結(jié)論。
[Abstract]:Based on the technical problems of flight overload and attitude simulation, a new flight overload simulator is proposed by combining the three-axis flight simulation turntable with the centrifuge. After the coupling of flight overload and attitude, the dynamic analysis of flight overload simulator is carried out, and then the dynamic model of flight overload simulator is established. The torque coupling problem of flight overload simulator and the feasibility and effectiveness of decoupling are analyzed. Finally, the model of flight overload and attitude coupling is simulated, and the simulation results are analyzed. The main work of this paper is as follows: firstly, the source and background of this thesis are introduced, and the necessity and significance of the research are put forward. This paper introduces the research results of three-axis flight turntable and centrifuge at home and abroad, and gives a summary of the research of flight overload simulator. Secondly, the system composition and installation design of flight overload simulator are introduced. It is pointed out that the function of the three-axis flight simulation turntable is to follow the command signal in real time according to the instruction of the computer, and to simulate the attitude angle change by controlling the rolling, pitching and heading shafting motion of the turntable, so as to achieve the function of the attitude simulation of the aircraft. Furthermore, the selection and structure design of the drive device are analyzed. The working principle of centrifuge is introduced. This paper introduces two kinds of flight overload simulators, gives the structure diagram, and makes a brief introduction. After the structure of the flight overload simulator is built, the dynamic analysis can be carried out. Thirdly, the dynamic analysis of flight overload and attitude is mainly carried out, and the key problem is to build the model of flight attitude simulation under overload. The core part is to build the dynamic equation of flight overload simulator. The dynamics of three-axis flight simulation turntable is analyzed, including coordinate transformation, torque equation and coupling torque equation between ring axes. The internal frame, middle frame and outer frame control model of the three-axis flight simulation turntable are modeled, and the dynamic equations of the three frames are obtained. The friction torque of flight overload simulator is analyzed and the equation of friction torque generated by gravity and centrifugal force is found. Finally the dynamic equation of flight overload simulator is obtained. In addition, NARX neural network is used to solve the torque coupling between the axes of flight overload simulator. The general dynamic model of flight overload simulator is given, and the reversibility of the model is verified. This is a prerequisite for decoupling control using NARX neural network. IMC strategy introduces how to realize decoupling control and use it to identify the inverse model of flight overload simulator in NARX neural network. A neural network trained by an appropriate real-time learning correction algorithm is proposed to ensure the convergence of the network. The decoupling control theory is to test the application program of flight overload simulator. The results of the application program demonstrate the effectiveness of the decoupling control of NARX neural network in the three-axis decoupling control of the flight overload simulator. Finally, the simulation experiment of flight attitude under different overload conditions is completed, and the simulation figure is analyzed and compared, and the conclusion is drawn that the larger the overload is, the smaller the attitude angle is.
【學(xué)位授予單位】：北京理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：V211

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