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双余度电静液作动器力均衡控制

齐海涛 滕雅婷

齐海涛, 滕雅婷. 双余度电静液作动器力均衡控制[J]. 北京航空航天大学学报, 2017, 43(2): 270-276. doi: 10.13700/j.bh.1001-5965.2016.0133
引用本文: 齐海涛, 滕雅婷. 双余度电静液作动器力均衡控制[J]. 北京航空航天大学学报, 2017, 43(2): 270-276. doi: 10.13700/j.bh.1001-5965.2016.0133
QI Haitao, TENG Yating. Force equalization control for dual-redundancy electro-hydrostatic actuator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(2): 270-276. doi: 10.13700/j.bh.1001-5965.2016.0133(in Chinese)
Citation: QI Haitao, TENG Yating. Force equalization control for dual-redundancy electro-hydrostatic actuator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(2): 270-276. doi: 10.13700/j.bh.1001-5965.2016.0133(in Chinese)

双余度电静液作动器力均衡控制

doi: 10.13700/j.bh.1001-5965.2016.0133
基金项目: 

航空科学基金 20132851033

详细信息
    作者简介:

    齐海涛,男,博士,讲师。主要研究方向:飞机作动系统及机电液控一体化技术

    滕雅婷,女,硕士研究生。主要研究方向:飞机作动系统及柔顺驱动器

    通讯作者:

    齐海涛,E-mail:qihaitao@buaa.edu.cn

  • 中图分类号: V227+.8;TH137

Force equalization control for dual-redundancy electro-hydrostatic actuator

Funds: 

Aeronautical Science Foundation of China 20132851033

More Information
  • 摘要:

    随着多电飞机技术的发展,电静液作动器(EHA)被更多地用于机载作动系统。双余度电静液作动器(DREHA)更易于实现余度控制,推进EHA在飞机上的应用。本文给出了一种新型DREHA的结构组成,并对其工作原理和固有的力纷争现象进行了分析。理想情况下,通过流量补偿进行修正,力纷争会消失。由于实际系统的参数不可能与仿真模型完全一致,通过人为引入两通道参数误差,复现实际的力纷争。针对上述力纷争现象,基于两通道左右腔压差提出了差值力补偿力均衡控制策略和交叉耦合力均衡控制策略,以减小力纷争。MATLAB和AMESim联合仿真结果表明,本文所设计的力均衡控制器能大大减小力纷争峰值,同时提高系统的响应速度。

     

  • 图 1  DREHA系统结构原理图

    Figure 1.  Schematic diagram of DREHA system structure

    图 2  主动/主动模式下的力纷争

    Figure 2.  Force fighting in active/active mode

    图 3  流量补偿后的力纷争现象

    Figure 3.  Force fighting after flow compensation

    图 4  柱塞泵排量偏差造成的力纷争

    Figure 4.  Force fighting caused by different pump displacements

    图 5  差值力补偿力均衡控制原理图

    Figure 5.  Schematic diagram of force difference compensation equalization control

    图 6  引入柱塞泵排量偏差力纷争时有无力均衡控制策略1的仿真结果

    Figure 6.  Simulation results with and without force equalization control strategy 1 of introducing force fighting caused by different pump displacements

    图 7  交叉耦合控制

    Figure 7.  Cross-coupling control

    图 8  交叉耦合力均衡控制原理图

    Figure 8.  Schematic diagram of cross-coupling force equalization control

    图 9  引入柱塞泵排量偏差力纷争时有无力均衡控制策略2的仿真结果

    Figure 9.  Simulation results with and without force equalization control strategy 2 of introducing force fighting caused by different pump displacements

    表  1  DREHA系统参数

    Table  1.   Parameters of DREHA system

    参数 数值
    电机最大转速ωmax/(r·min-1) 10 000
    柱塞泵排量qp/(cc·r-1) 1
    无刷直流电机定子绕组电阻R 0.245
    无刷直流电机定子绕组电感L/H 3.36×10-4
    无刷直流电机电磁转矩系数Cm/(N·m·A-1) 0.215
    无刷直流电机反电势系数Ce/(V·(rad·s-1)-1) 0.215
    电机-泵的转动惯量J/(kg·m2) 1.6×10-3
    电机-泵的阻尼系数B/(N·m·(rad·s-1)-1) 6.0×10-4
    作动筒的总泄漏系数Csl/((m3·s-1)·Pa-1) 2.5×10-12
    通道1活塞有效面积A1/m2 1.83×10-3
    通道1系统容腔的总容积V1/m3 2.0×10-4
    通道2活塞有效面积A2/m2 2.46×10-3
    通道2系统容腔的总容积V2/m3 2.6×10-4
    液压油的等效体积弹性模量Ey/(N·m-2) 6.86×108
    活塞及负载的阻尼系数Bt/(N·(m·s-1)-1) 100
    负载的弹簧刚度Kt/(N·m-1) 5×108
    活塞及负载的惯性质量mt/kg 30
    下载: 导出CSV
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出版历程
  • 收稿日期:  2016-02-19
  • 录用日期:  2016-03-18
  • 网络出版日期:  2017-02-20

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