基于复合控制的电液负载模拟器多余力抑制研究

艾志久; 王云瑞; 舒建华; 刘旭; 陈瑞; 吴定定

doi:10.21656/1000-0887.370185

基于复合控制的电液负载模拟器多余力抑制研究

doi: 10.21656/1000-0887.370185

¹西南石油大学机电工程学院, 成都 610500;²中石化川气东送天然气管道有限公司, 武汉 430000;³海洋石油工程(珠海)有限公司, 广东珠海 519000

基金项目: 国家自然科学基金(51074202)

详细信息

作者简介:
艾志久（1954—），男，教授，博士生导师（通讯作者. E-mail: aizhijiu@swpu.edu.cn);王云瑞（1992—），男，硕士生（E-mail: 1225308867@qq.com).

中图分类号: V216.8
计量
- 文章访问数: 1554
- HTML全文浏览量: 375
- PDF下载量: 573
- 被引次数: 0
出版历程
- 收稿日期: 2016-06-12
- 修回日期: 2016-06-28
- 刊出日期: 2017-03-15

Elimination of Surplus Forces in Electrohydraulic Load Simulators Based on Compound Control

¹School of Mechatronic Engineering, Southwest Petroleum University, Chengdu 610500, P.R.China;²Sinopec SichuantoEast Gas Pipeline Co., Ltd., Wuhan 430000, P.R.China;³Offshore Oil Engineering (Zhuhai) Co., Ltd., Zhuhai, Guangdong 519000, P.R.China

Funds: The National Natural Science Foundation of China(51074202)

摘要

摘要: 针对电液负载模拟系统存在多余力且该多余力严重影响系统加载精度与控制性能的问题，建立了系统各部分以及整个系统的数学模型.通过对数学模型的研究，分析了系统多余力的产生机理，并建立了系统多余力的传递函数.提出了前馈PID复合控制的方法，并对该方法进行了仿真分析和实验研究.在仿真分析中，通过对多余力消扰前、引入前馈控制消扰后及引入复合控制消扰后3种情况的比较，说明前馈PID复合控制能够有效抑制系统多余力.实验结果进一步验证了前馈PID复合控制的有效性，同时实验结果显示在运动换向时系统多余力将出现突变，为下一步的研究指明了方向.
- 电液负载模拟器 /
- 数学模型 /
- 多余力 /
- 前馈PID复合控制
Abstract: In order to restrain the surplus force caused by position disturbance in the aircraft rudder electrohydraulic load simulator and improve accuracy of the loading system, the mathematical model for each part and the whole system was established. Through the analysis of the mathematical model, the generation mechanism for the surplus force was expounded, and the transfer function for the surplus force was established. A compound control method was proposed which combined PID and feedforward compensation. The numerical simulation and the experimental study were carried out based on the proposed method. The results of simulation and experiment show that, the feedforward PID compound control can effectively restrain the system’s surplus force, so as to improve the loading accuracy of the electrohydraulic load simulation system. At the same time, the experimental results show that the surplus force hits a mutation when the system changes the direction of movement, which points out the direction for further research.
- electrohydraulic load simulator /
- mathematical model /
- surplus force /
- feedforward PID compound control

HTML全文

参考文献(19)

[1]	杨芳, 袁朝辉. 电液负载模拟器的自适应滑模控制方法[J]. 计算机仿真, 2011,28(11): 168-171, 204.(YANG Fang, YUAN Zhao-hui. Adaptive sliding control for electro-hydraulic load simulator[J]. Computer Simulation,2011,28(11): 168-171, 204.(in Chinese))
[2]	辛飞飞, 周向阳, 雷勇, 等. 舵机负载模拟器扭杆设计及性能分析[J]. 弹箭与制导学报, 2013,33(3): 45-48.(XIN Fei-fei, ZHOU Xiang-yang, LEI Yong, et al. Design and performances analysis of torsion bar-load simulator[J]. Journal of Projectiles, Rockets, Missiles and Guidance,2013,33(3): 45-48.(in Chinese))
[3]	董文彬, 张宏伟, 吴骁, 等. 基于某型号飞控半实物仿真试验变加载模拟技术的研究[J]. 航天控制, 2013,31(2): 69-72, 83.(DONG Wen-bin, ZHANG Hong-wei, WU Xiao, et al. The research of variable loading simulator based on the hardware-in-the-loop simulation of a certain missile[J]. Aerospace Control,2013,31(2): 69-72, 83.(in Chinese))
[4]	韩松杉, 焦宗夏, 尚耀星, 等. 基于舵机指令前馈的电液负载模拟器同步控制[J]. 北京航空航天大学学报, 2015,41(1):124-132.(HAN Song-shan, JIAO Zong-xia, SHANG Yao-xing, et al. Synchronizing compensation control of electro-hydraulic load simulator using command signal of actuator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015,41(1):124-132.(in Chinese))
[5]	王经甫, 叶正茂, 李洪人. 双阀并联控制在船舶舵机电液负载模拟器多余力抑制中的研究[J]. 机械工程学报, 2005,41(4): 229-233.(WANG Jing-fu, YE Zheng-mao, LI Hong-ren. Study on eliminating the superfluous force of marine electrohydraulic load simulator applied with dual-valve parallel connected control[J]. Chinese Journal of Mechanical Engineering,2005,41(4): 229-233.(in Chinese))
[6]	王鑫, 冯冬竹. 引入弹簧杆的电动负载模拟器实验研究[J]. 电机与控制学报, 2012,16(9): 91-94.(WANG Xin, FENG Dong-zhu. Experimental research on DC load simulator test bed with elastic rod[J]. Electric Machines and Control, 2012,16(9): 91-94.(in Chinese))
[7]	JIAO Zong-xia, GAO Jun-xia, HUA Qing, et al. The velocity synchronizing control on the electro-hydraulic load simulator[J]. Chinese Journal of Aeronautics,2004,17(1): 39-46.
[8]	Ang D D, Williams M L. Combined stresses in an orthotropic plate having a finite crack[J].Journal of Applied Mechanics,1961,28(3): 372-378.
[9]	SHANG Yao-xing, JIAO Zong-xia, WANG Xiao-dong, et al. Study on friction torque loading with an electro-hydraulic load simulator[J]. Chinese Journal of Aeronautics,2009,22(6): 691-699.
[10]	HAN Song-shan, JIAO Zong-xia, YAO Jian-yong, et al. Compound velocity synchronizing control strategy for electro-hydraulic load simulator and its engineering application[J]. Journal of Dynamic Systems, Measurement, and Control,2014,136(5): 0510021-05100213.
[11]	刘晓琳, 王春婷, 袁昆. 电液负载模拟器的多余力抑制方法研究[J]. 计算机仿真, 2015,32(7): 23-27.(LIU Xiao-lin, WANG Chun-ting, YUAN Kun. Research of strategy to restrain surplus force of electro-hydraulic loading simulator system[J]. Computer Simulation,2015,32(7): 23-27.(in Chinese))
[12]	Khayati K, Bigras P, Dessaint L. Force control loop affected by bounded uncertainties and unbounded inputs for pneumatic actuator systems[J]. Journal of Dynamic Systems, Measurement, and Control,2008,130(1): 011007.
[13]	叶正茂, 李洪人, 王经甫. 基于CMAC的电液负载模拟器自学习控制[J]. 控制与决策, 2003,18(3): 343-347.(YE Zheng-mao, LI Hong-ren, WANG Jing-fu. CMAC-based self-learning control for the electrohydraulic load simulator[J]. Control and Decision, 2003,18(3): 343-347.(in Chinese))
[14]	杨雪松, 李长春, 延皓, 等. 基于矢量匹配的扰动力矩消除方法[J]. 兵工学报, 2016,37(2): 348-356.(YANG Xue-song, LI Chang-chun, YAN Hao, et al. Vector matching-based disturbance torque elimination method[J]. Acta Armamentarii, 2016,37(2):348-356.(in Chinese))
[15]	董雪仰, 戈新生. 航天器太阳帆板展开过程最优控制的自适应Gauss伪谱法[J]. 应用数学和力学,2016,37(6): 655-664.(DONG Xue-yang, GE Xin-sheng. The adaptive Gauss pseudospectral method for the optimal control of spacecraft solar array deployment[J]. Applied Mathematics and Mechanics, 2016,37(6): 655-664.(in Chinese))
[16]	刘国建, 李运华, 郑琦, 等. 直升机桨距调节助力器电液加载系统的H_∞控制[J]. 北京航空航天大学学报, 2011,37(2): 140-143.(LIU Guo-jian, LI Yun-hua, ZHENG Qi, et al. Application of H_∞ theory in electro-hydraulic loading system of helicopter pitch adjusting booster[J].Journal of Beijing University of Aeronautics and Astronautics,2011,37(2): 140-143.(in Chinese))
[17]	邵俊鹏, 李建英, 王仲文, 等. 电液负载模拟器多余力抑制的结构补偿控制[J]. 电机与控制学报,2009,13(4): 586-591.(SHAO Jun-peng, LI Jian-ying, WANG Zhong-wen, et al. Structure compensation control of eliminating superfluous force of electro-hydraulic load simulator[J]. Electric Machines and Control,2009,13(4): 586-591.(in Chinese))
[18]	王传礼, 丁凡, 李其朋, 等. 对称四通阀控非对称液压缸伺服系统动态特性研究[J]. 中国机械工程, 2004,15(6): 471-474.(WANG Chuan-li, DING Fan, LI Qi-peng, et al. Research on dynamic characteristics of asymmetric cylinder controlled by symmetric four-way valve[J]. China Mechanical Engineering,2004,15(6): 471-474.(in Chinese))
[19]	张培, 许宏光, 郑大可, 等. 新型电液负载模拟器建模及仿真研究[J]. 液压与气动, 2015,2(1): 98-102.(ZHANG Pei, XU Hong-guang, ZHENG Da-ke, et al. Modeling and simulation research for a new type electro-hydraulic load simulator[J]. Chinese Hydraulics & Pneumatics, 2015,2(1): 98-102.(in Chinese))

施引文献

资源附件(0)

访问统计

计量

文章访问数: 1554
HTML全文浏览量: 375
PDF下载量: 573
被引次数: 0

姓名
邮箱
手机号码
标题
留言内容
验证码

留言板

基于复合控制的电液负载模拟器多余力抑制研究

doi: 10.21656/1000-0887.370185

作者简介:
艾志久（1954—），男，教授，博士生导师（通讯作者. E-mail: aizhijiu@swpu.edu.cn);王云瑞（1992—），男，硕士生（E-mail: 1225308867@qq.com).

计量

Elimination of Surplus Forces in Electrohydraulic Load Simulators Based on Compound Control

计量

目录

留言板

基于复合控制的电液负载模拟器多余力抑制研究

doi: 10.21656/1000-0887.370185

作者简介: 艾志久（1954—），男，教授，博士生导师（通讯作者. E-mail: aizhijiu@swpu.edu.cn);王云瑞（1992—），男，硕士生（E-mail: 1225308867@qq.com).

计量

出版历程

Elimination of Surplus Forces in Electrohydraulic Load Simulators Based on Compound Control

计量

出版历程

目录

作者简介:
艾志久（1954—），男，教授，博士生导师（通讯作者. E-mail: aizhijiu@swpu.edu.cn);王云瑞（1992—），男，硕士生（E-mail: 1225308867@qq.com).