伺服机构综合负载模拟试验系统

doi:10.3969/j.issn.1000-1093.2012.05.014

兵工学报 ›› 2012, Vol. 33 ›› Issue (5): 588-593.doi: 10.3969/j.issn.1000-1093.2012.05.014

伺服机构综合负载模拟试验系统

延皓，李长春，陈策

（北京交通大学机械与电子控制工程学院，北京 100044）

收稿日期:2011-10-25 修回日期:2011-10-25 上线日期:2014-03-04
作者简介:延皓(1979—)，男，讲师
基金资助:
中央高校基本科研业务费专项（2010JBZ010）

Comprehensive Load Simulation System of Servo Mechanism

YAN Hao， LI Chang-chun， CHEN Ce

(School of Mechanical，Electronic and Control Engineering，Beijing Jiaotong University，Beijing 100044，China)

Received:2011-10-25 Revised:2011-10-25 Online:2014-03-04

摘要/Abstract

摘要： 针对大型运载火箭伺服机构所受实际负载情况，提出了一种综合负载模拟系统，能够模拟惯性、弹性、摩擦和常值负载。其中惯性负载、弹性负载以及伺服机构的柔性安装基础采用机械结构模拟，摩擦负载和常值负载采用液压系统来实现。分别对伺服机构、液压加载系统以及柔性结构进行建模，并以此为基础构造了系统的综合数学模型。仿真表明，该系统能够复现伺服机构实际工况下的负载特性，加载多余力也能得到很好的抑制。建立了负载模拟试验系统，实现了对各种负载及谐振特性的模拟，为伺服机构的地面测试和深入研究提供必要的实验基础。

关键词: 流体传动与控制, 负载模拟, 伺服机构, 负载特性, 多余力

Abstract: Abstract: According to the actual load suffered by a servo mechanism in a large launch vehicle, a comprehensive load simulation system was presented, which could simulate the inertia, elastic, friction and constant loads. The inertia load, elastic load and flexible assembling base of servo mechanism were simulated by the mechanical structures, and the friction load and constant load were simulated using a hydraulic system. A complete mathematical model was constructed by modeling the servo mechanism, its flexible structure and the loading hydraulic system. It is shown that this system can reproduce the load characteristics of the servo mechanism in actual situation, and the redundant force of the loading system is suppressed effectively. A load simulation system was developed for simulation of the loads and resonant characteristics, which provides the necessary fundamental facilities for ground test and further research of servo mechanisms.

Key words: turn and control of fluid, load simulation, servo mechanism, load characteristic, redundant force

中图分类号:

TP29

延皓，李长春，陈策. 伺服机构综合负载模拟试验系统[J]. 兵工学报, 2012, 33(5): 588-593.

YAN Hao， LI Chang-chun， CHEN Ce. Comprehensive Load Simulation System of Servo Mechanism[J]. Acta Armamentarii, 2012, 33(5): 588-593.

参考文献

［1］方强. 被动式力矩伺服控制系统设计方法及应用研究[D]. 哈尔滨：哈尔滨工业大学，2006.
FANG Qiang. Research of design method for passive torque servo control system and its application[D]. Harbin：Harbin Institute of Technology，2006. (in Chinese)
[2] 刘晓东. 电液伺服系统多余力补偿及数字控制策略研究[D]. 北京：北京交通大学，2008.
LIU Xiao-dong. Study on extraneous force compensation and digital control algorithm of electro-hydraulic servo system
[D]. Beijing：Beijing Jiaotong University，2008. (in Chinese)
[3] 焦宗夏，华清，王晓东，等. 负载模拟器的评价指标体系[J]. 机械工程学报，2002，38(11): 26-30.
JIAO Zong-xia，HUA Qing，WANG Xiao-dong，et al. Estimation for performance of load simulator[J]. Chinese Journal of Mechanical Engineering, 2002, 38(11): 26-30. (in Chinese)
[4] Kyoung Kwan AHN. Self tuning fuzzy PID control for hydraulic load simulator[C]∥International Conference on Control, Automation and Systems. Korea: IEEE, 2007: 345-349.
［5］ Ohuchi H，Jukui H，Inatomi K，et al. Model reference adaptive control of a hydraulic load simulator［C］∥The 3rd International Conference on Fluid Power Transmission and Control. Hangzhou：International Academic Publishers, 1993:275-280.
[6] 张彪，赵克定，孙丰迎. 电液负载模拟器的神经网络参数辨识[J]. 航空学报，2009，30(2): 374-379.
ZHANG Biao, ZHAO Ke-ding, SUN Feng-ying. Neural network parameter identification of electro-hydraulic load simulator[J]. Acta Aeronautica et Astronautica Sinca, 2009, 30(2): 374-379. (in Chinese)
[7] Dinh Quang Truong. A study on force control of electric-hydraulic load simulator using an online tuning quantitative feedback theory[C]∥International Conference on Control, Automation and Systems. Korea：IEEE, 2008: 2622-2627.
[8] Wang J F. Application of H_∞ control based on mixed sensitivity in the electro-hydraulic load simulator[C]∥International Conference on Mechatronics and Automation. Harbin: IEEE, 2007: 2991-2996.
[9] Niksefat N. Design and experimental evaluation of a robust force controller for an electro-hydraulic actuatorvia quantitative feedback theory[J]. Control Engineering Practice，2000，8：1335-1345.
[10] 华清，焦宗夏，王晓东，等. 电液负载模拟器的精确数学模型[J]. 机械工程学报，2002, 38(11): 31-35.
HUA Qing, JIAO Zong-xia, WANG Xiao-dong，et al. Complex mathematical model of electro-hydraulic torque load simulator[J]. Chinese Journal of Mechanical Engineering, 2002, 38(11): 31-35. (in Chinese)
[11] 李洪人. 液压控制系统[M]. 北京：国防工业出版社，1990: 314-326.
LI Hong-ren. Hydraulic control system[M]. Beijing：National Defense Industry Press, 1990: 314-326. (in Chinese)
[12] 刘长年. 液压伺服系统的分析与设计[M]. 北京：科学出版社，1985: 78-134.
LIU Chang-nian. Analysis and design of the hydraulic servo system[M]. Beijing：Science Press, 1985: 78-134. (in Chinese)

[1]	陈勇, 李胜, 阮健, 吴常盛, 张浩. 微型高压二维活塞泵的设计与容积效率[J]. 兵工学报, 2022, 43(2): 423-433.
[2]	潘卫东，范元勋，雷建杰，曹大伟，陆鹏程，徐志伟. 摩擦对电动直线负载模拟器的影响及其抑制研究[J]. 兵工学报, 2019, 40(10): 2050-2059.
[3]	祁超，范世珣，谢馨，陈宁，范大鹏，江献良. 光电稳定平台伺服机构低速及稳定性能控制方法研究[J]. 兵工学报, 2018, 39(10): 1873-1882.
[4]	李阁强，顾永升，李健，李跃松，郭冰菁. 被动式电液力伺服系统的自适应反步滑模控制[J]. 兵工学报, 2017, 38(3): 616-624.
[5]	延皓，康硕，王凤聚，李长春，黄静. 偏转板射流式伺服阀前置级液动力计算方法研究[J]. 兵工学报, 2016, 37(7): 1258-1265.
[6]	黄静，李长春，延皓，杨雪松，李竞. 基于改进经验模式分解算法的实时滤波新方法[J]. 兵工学报, 2016, 37(5): 929-935.
[7]	汪浒江，毛明，唐守生，冀海. 基于蒙特卡洛方法的液压泵变量伺服机构稳健性优化[J]. 兵工学报, 2015, 36(6): 961-967.
[8]	闫清东，穆洪斌，魏巍，刘树成. 双循环圆液力缓速器叶形参数优化设计[J]. 兵工学报, 2015, 36(3): 385-390.
[9]	张朋，付永领，郭彦青. 火箭发动机喷管伺服机构负载模拟系统设计与实验[J]. 兵工学报, 2014, 35(9): 1495-1502.
[10]	吴维, 苑士华, 胡纪滨, 荆崇波. 液压自由活塞发动机止点位置控制研究[J]. 兵工学报, 2013, 34(5): 513-518.
[11]	孙萌, 李长春, 延皓, 刘晓东, 张金英, 母东杰. 多自由度伺服机构负载模拟系统动态特性研究[J]. 兵工学报, 2013, 34(3): 378-384.
[12]	吴维，苑士华，胡纪滨，荆崇波. 液压自由活塞发动机的活塞运动不对称特征研究[J]. 兵工学报, 2012, 33(7): 810-815.
[13]	李雪原，苑士华，胡纪滨，魏超. 斜轴式液压变压器变压比的影响因素分析[J]. 兵工学报, 2012, 33(7): 793-798.
[14]	罗虹，李英强，李兴泉，王腾腾，孙新龙. 液力变矩器叶片参数的正交试验优化设计[J]. 兵工学报, 2012, 33(7): 782-787.
[15]	母东杰，李长春，延皓，孙萌. 基于特征线理论的阀控液压管路瞬变过渡流数值分析[J]. 兵工学报, 2012, 33(12): 1455-1460.

伺服机构综合负载模拟试验系统

Comprehensive Load Simulation System of Servo Mechanism

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价