北京航空航天大学学报 ›› 2015, Vol. 41 ›› Issue (1): 124-132.doi: 10.13700/j.bh.1001-5965.2014.0052

• 论文 • 上一篇    下一篇

基于舵机指令前馈的电液负载模拟器同步控制

韩松杉1,2, 焦宗夏1,2, 尚耀星1,2, 汪成文1,2   

  1. 1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100191;
    2. 北京航空航天大学 飞行器控制一体化技术重点实验室, 北京 100191
  • 收稿日期:2014-01-27 出版日期:2015-01-20 发布日期:2015-02-04
  • 通讯作者: 焦宗夏(1963-),男,辽宁沈阳人,教授,zxjiao@buaa.edu.cn,主要研究方向为机电系统的数字化、智能化设计技术,新型作动系统与余度舵机技术,机电装备与半实物仿真系统. E-mail:zxjiao@buaa.edu.cn
  • 作者简介:韩松杉(1985-),男,河南温县人,博士生,hansongshan@gmail.com
  • 基金资助:

    国家重点基础研究发展计划资助项目(2014CB046406);国家自然科学基金面上项目(51475020)

Synchronizing compensation control of electro-hydraulic load simulator using command signal of actuator

HAN Songshan1,2, JIAO Zongxia1,2, SHANG Yaoxing1,2, WANG Chengwen1,2   

  1. 1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
    2. Science and Technology on Aircraft Control Laboratory, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2014-01-27 Online:2015-01-20 Published:2015-02-04

摘要:

电液负载模拟器是典型的带有强运动耦合的电液力(矩)伺服系统,克服由运动干扰造成的多余力是其控制的关键问题.针对于目前常用的同步补偿算法在消除多余力实际应用中存在的问题,提出了基于舵机指令前馈的同步补偿策略.该策略采用舵机速度指令信号和负载模拟器力矩反馈信号来实现精确的同步补偿,不需要舵机的速度信号、加速度信号以及阀控信号.同时该策略考虑了加载力矩对舵机输出速度的影响,相对于传统速度同步算法在大负载力矩跟踪下可得到更好的多余力消除效果,从而能实现更准确的速度同步补偿.针对于典型加载工况进行的仿真和实验结果表明,该策略能有效解决舵机运动扰动带来的多余力问题,进而提高动态加载精度.

关键词: 电液负载模拟器, 液压伺服机构, 同步运动, 扰动抑制, 速度指令

Abstract:

Electro-hydraulic load simulator is a typical case of the force (torque) servo system which is strongly coupled with a hydraulic position system. How to eliminate the extraneous torque from motion disturbances is the key difficulty in electro-hydraulic load simulators. Based on theoretical analysis of traditional synchronizing compensation controllers, the improved synchronizing compensation algorithm was put forward. This algorithm can make full use of actuator's velocity command signal and load simulator's torque feedback signal, which does not need actuator's velocity signal, acceleration signal and servo-valve current signal. Due to utilizing load simulator's torque feedback signal, it can effectively eliminate the extraneous torque and achieve a more accurate synchronizing compensation than traditional velocity synchronizing controller in big gradient loading conditions. The comparison results based on simulations and experiments show that this algorithm is more effective to eliminate extraneous torque from motion disturbances and improve the dynamic torque tracking accuracy in various typical operating conditions.

Key words: electro-hydraulic load simulators, hydraulic servomechanisms, synchronization, disturbance rejection, velocity command

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