本文選題：氣動(dòng)力伺服系統(tǒng)頻率特性 + 間隙機(jī)構(gòu)�。� 參考：《哈爾濱工業(yè)大學(xué)》2012年碩士論文

【摘要】：氣動(dòng)負(fù)載模擬器作為近幾年新起的負(fù)載模擬器，是一種典型的被動(dòng)式力伺服系統(tǒng)。氣動(dòng)系統(tǒng)作為加載部分其主要目的為模擬飛行器中舵面機(jī)構(gòu)在擺動(dòng)時(shí)所受的空氣力矩。舵機(jī)的主動(dòng)運(yùn)動(dòng)往往會(huì)對(duì)氣動(dòng)系統(tǒng)產(chǎn)生位置干擾，進(jìn)而引起多余力，選擇氣動(dòng)系統(tǒng)作為加載裝置可以大幅降低多余力的影響，但是由于氣動(dòng)系統(tǒng)的非線性，使的氣動(dòng)力控制伺服系統(tǒng)較其他形式加載裝置頻率特性差，所以減少力控制信號(hào)的相位滯后提高系統(tǒng)動(dòng)態(tài)特性成為本文主要的工作。 首先建立氣動(dòng)系統(tǒng)數(shù)學(xué)模型，采用機(jī)理建模的方式得到氣動(dòng)系統(tǒng)的傳遞函數(shù)，分析得出系統(tǒng)達(dá)不到預(yù)期控制目標(biāo)的主要原因是加載系統(tǒng)在舵機(jī)系統(tǒng)的強(qiáng)干擾下實(shí)行加載所導(dǎo)致。由于氣體的可壓縮性，使干擾作用在實(shí)際中體現(xiàn)在舵機(jī)運(yùn)動(dòng)導(dǎo)致的兩腔壓力變化�？紤]到速度補(bǔ)償不容易實(shí)現(xiàn)的特點(diǎn)，提出采用動(dòng)壓反饋，補(bǔ)償位置造成的干擾，根據(jù)補(bǔ)償?shù)牧εc位置變化產(chǎn)生的力相等推導(dǎo)出動(dòng)壓反饋的傳遞函數(shù)。在仿真和實(shí)驗(yàn)中主要調(diào)節(jié)動(dòng)壓反饋系數(shù)的大小。 建立伺服電機(jī)的數(shù)學(xué)模型，合理設(shè)置參數(shù)。通過(guò)matlab對(duì)電機(jī)動(dòng)態(tài)特性進(jìn)行仿真。通過(guò)Amesim建立了氣動(dòng)負(fù)載模擬器的實(shí)際模型，分別采用PID和PID+動(dòng)壓反饋的控制方法，得出動(dòng)壓反饋優(yōu)于PID調(diào)節(jié)。另外分析了影響系統(tǒng)動(dòng)態(tài)特性的其他因素包括比例閥和氣源壓力的選擇。 采用Adams對(duì)負(fù)載模擬器機(jī)械結(jié)構(gòu)進(jìn)行動(dòng)力學(xué)分析，分析機(jī)械結(jié)構(gòu)間隙對(duì)加載力曲線的影響，得到不同間隙下的搖桿位移、速度和加速度曲線，得到合理間隙值，為實(shí)驗(yàn)環(huán)節(jié)做下準(zhǔn)備。同時(shí)針對(duì)伺服電機(jī)在低頻時(shí)動(dòng)態(tài)特性不足，設(shè)計(jì)出慣量輪，借此在實(shí)驗(yàn)中提升電機(jī)動(dòng)態(tài)特性。另外合理選擇整個(gè)實(shí)驗(yàn)臺(tái)的底座，采用較大的底座慣量，提高整個(gè)實(shí)驗(yàn)臺(tái)的剛性。 搭建氣動(dòng)負(fù)載模擬器特性實(shí)驗(yàn)臺(tái)，實(shí)驗(yàn)以Matlab中xpc-target工具建立軟件系統(tǒng)，采用上下位機(jī)的形式控制板卡進(jìn)行數(shù)據(jù)采集與實(shí)時(shí)控制。采用PID和PID+動(dòng)壓反饋兩種控制方法。同時(shí)驗(yàn)證了機(jī)械結(jié)構(gòu)優(yōu)化設(shè)計(jì)對(duì)力曲線的影響，，測(cè)試結(jié)果表明實(shí)驗(yàn)曲線與仿真曲線基本一致。
[Abstract]:As a new load simulator in recent years, pneumatic load simulator is a typical passive force servo system. As the loading part, the aerodynamic system is designed to simulate the air torque of the rudder mechanism in the aircraft when it is swinging. The active motion of the steering gear often produces the position interference to the pneumatic system, and then causes the redundant force. Choosing the pneumatic system as the loading device can greatly reduce the influence of the redundant force, but because of the nonlinearity of the pneumatic system, The frequency characteristic of the pneumatic control servo system is worse than that of other loading devices, so reducing the phase lag of the force control signal and improving the dynamic characteristics of the system become the main work in this paper. Firstly, the mathematical model of pneumatic system is established, and the transfer function of pneumatic system is obtained by mechanism modeling. It is concluded that the main reason that the system can not achieve the expected control goal is the loading of the loading system under the strong disturbance of the steering gear system. Because of the compressibility of the gas, the interference is reflected in the pressure change of the two cavities caused by the motion of the steering gear. Considering the fact that velocity compensation is not easy to be realized, it is proposed that dynamic pressure feedback is used to compensate the interference caused by position, and the transfer function of dynamic pressure feedback is deduced according to the force produced by the compensated force and the change of position. The dynamic pressure feedback coefficient is mainly regulated in simulation and experiment. The mathematical model of servo motor is established and the parameters are set up reasonably. The dynamic characteristics of the motor are simulated by matlab. The actual model of pneumatic load simulator is established by Amesim. The control methods of PID and PID dynamic pressure feedback are adopted respectively. The result shows that the response pressure feedback is better than the PID regulation. In addition, other factors affecting the dynamic characteristics of the system are analyzed, including the selection of proportional valve and air source pressure. The dynamic analysis of the mechanical structure of the load simulator is carried out by using Adams, and the influence of the gap of the mechanical structure on the loading force curve is analyzed. The displacement, velocity and acceleration curves of the rocker rod under different gaps are obtained, and the reasonable gap values are obtained. Prepare for the experiment. At the same time, the inertia wheel is designed to improve the dynamic characteristics of the servo motor in the experiment. In addition, the base of the whole test platform is reasonably selected, and the rigidity of the whole test platform is improved by adopting the larger inertia of the base. The characteristic test bench of pneumatic load simulator was built. The software system was established by xpc-target tool in Matlab, and the data acquisition and real time control were carried out by the form of upper and lower computer control board. PID and PID dynamic pressure feedback control methods are adopted. At the same time, the effect of mechanical structure optimization design on the force curve is verified. The test results show that the experimental curve is basically consistent with the simulation curve.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TH138;V216.8

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