伺服机构负载模拟系统设计与动态特性分析

张朋; 付永领; 郭彦青; 祁晓野

doi:10.13700/j.bh.1001-5965.2013.0571

伺服机构负载模拟系统设计与动态特性分析

doi: 10.13700/j.bh.1001-5965.2013.0571

北京航空航天大学机械工程及自动化学院, 北京 100191

基金项目: 航空科学基金资助项目（2012ZD51055）

详细信息

作者简介:
张朋（1984-），男，山东济宁人，博士生，zpbuaa@126.com.

中图分类号: TB262
计量
- 文章访问数: 1196
- HTML全文浏览量: 156
- PDF下载量: 640
- 被引次数: 0
出版历程
- 收稿日期: 2013-10-10
- 网络出版日期: 2014-09-20

Design and analysis on dynamic characteristic of servo mechanism’s load simulation system

School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

摘要

摘要: 针对火箭发动机喷管伺服机构的负载模拟问题，采用机械的方式，设计了一种可对伺服机构的惯性负载、摩擦力矩负载、弹性力矩负载、安装刚度以及发动机喷管柔性特征进行模拟的负载模拟器，并建立了模拟器和伺服机构数学模型。仿真分析了惯性负载、弹性力矩以及喷管柔性对伺服机构负载多自由度特性的影响。通过对伺服机构扫频实验，负载模拟器中的负载在一定范围内调节，可复现伺服机构实际工作中的动态特性。说明该负载模拟器结构设计合理，从而为具有多自由度特性的火箭伺服机构的负载模拟系统设计提供参考。该系统已经得到实际应用。
- 负载模拟 /
- 伺服机构 /
- 数学模型 /
- 动态特性 /
- 多自由度
Abstract: In view of a load simulating problem of servo mechanism in launch vehicles, a new load simulator device was present, which could simulate the inertia, friction, elastic, servo mechanism mounting rigidity and flexibility characteristics of engine nozzle by the mechanical structures. The complete mathematical models of servo mechanism and load simulator device were constructed. The influence of inertia, elastic and flexible to multiple degrees of freedom was analyzed by simulation. A sweep frequency test of servo mechanism was made to repeat the dynamic characteristics of servo mechanism in practical work when some loads of load simulator device were adjusted in a certain range. The test results validate the reasonableness of the proposed design, which may be a reference for the design of load simulator device with multiple degrees of freedom property. Besides, the simulator has got an actual application.
- load simulation /
- servo mechanism /
- mathematical model /
- dynamic characteristic /
- multiple degrees of freedom

HTML全文

参考文献(15)

[1]	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 Changchun,Chen Ce.Comprehensive load simulation system of servo mechanism[J].Acta Armamentarii,2012,33(5):588-593(in Chinese)
[2]	张洁,孙凝生.运载火箭伺服机构负载模拟与空载特性间的转换传递函数[J].航天测控,2002,18(2):12-16 Zhang Jie,Sun Ningsheng.The transfer function between servo sector load of launch vehicle load and no-load characteristics[J].Aerospace Control,2002,18(2):12-16(in Chinese)
[3]	郝经佳,赵克定,许宏光.刚度、惯量负载对电液负载仿真台性能影响的研究[J].中国机械工程,2002,13(6):458-460 Hao Jingjia,Zhao Keding,Xu Hongguang.Study on the influence of rigidity and inertia in electro-hydraulic load simulator[J].China Mechanical Engineering,2002,13(6):458-460(in Chinese)
[4]	华清.电液负载模拟器关键技术的研究[D].北京:北京航空航天大学,2001 Hua Qing.Study on the key technology of electro-hydraulic load simulator[D].Beijing:Beijing University of Aeronautics and Astronautics,2001(in Chinese)
[5]	Clark S,Corbett M.The design of a T5 thruster load simulator for spacecraft system AVI[C]//Proceeding of Space Propulsion 2004-4th International Spacecraft Propulsion Conference.Sardinia,Italy:IEEE,2004:797-802
[6]	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 Zongxia,Hua Qing,Wang Xiaodong,et al.Estimation for performance of load simulator[J].Chinese Journal of Mechanical Engineering,2002,38(11):26-30(in Chinese)
[7]	孙萌,李长春,延皓,等.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 Sun Meng,Li Changchun,Yan Hao,et al.Study on dynamic performance of multiple-DOF servo mechanism’s load simulator system[J].Acta Armamentarii,2013,34(3):378-384(in Chinese)
[8]	Shang Y X,Jiao Z X,Wang X D,et al.Study on friction torque loading with an electro-hydraulic load simulator[J].Chinese Journal of Aeronautics,2009,22(6):691-699
[9]	Truong D Q,Kwan A K,Yoon J I.A study on force control of electric-hydraulic load simulator using an online tuning quantitative feedback theory[C]//Control Automation and Systems International Conference.Piscataway,NJ:IEEE,2008:2622-2627
[10]	尚耀星,吴帅,焦宗夏,等.基于极限性能要求的电液负载模拟器多刚度与非线性复合数学模型[J].航空学报,2009,30(7):1332-1340 Shang Yaoxing,Wu Shuai,Jiao Zongxia,et al.Electro-hydraulic load simulator based on ultimate performance requirements and the mathematical models with nonlinear[J].Acta Aeronautica et Astronautica Sinica,2009,30(7):1332-1340(in Chinese)
[11]	朱晓敏,延皓,孙萌.多自由度伺服机构负载模拟系统建模与实验研究[J].兵工学报,2011,32(5):602-606 Zhu Xiaomin,Yan Hao,Sun Meng.Modeling and experimental investigation of load simulator of multiple DOF servo mechanism[J].Acta Armamentarii,2011,32(5):602-606(in Chinese)
[12]	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 Zongxia,Wang Xiaodong,et al.Complex mathematical model of electro-hydraulic torque load simulator[J].Chinese Journal of Mechanical Engineering,2002,38(11):31-35(in Chinese)
[13]	王占林.液压伺服控制[M].北京:北京航空学院出版社,1987 Wang Zhanlin.Hydraulic servo control[M].Beijing:Beihang University Press,1987(in Chinese)
[14]	刘长年.液压伺服系统的分析与设计[M].北京:科学出版社,1985 Liu Changnian.Analysis and design of the hydraulic servo system[M].Beijing:Science Press,1985(in Chinese)
[15]	李洪人.液压控制系统[M].北京:国防工业出版社,1990 Li Hongren.Hydraulic control system[M].Beijing:National Defense Industry Press,1990(in Chinese)