CN107203184A - The dynamic control method of straight line steering wheel Electric Loading System - Google Patents
The dynamic control method of straight line steering wheel Electric Loading System Download PDFInfo
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- CN107203184A CN107203184A CN201710470666.7A CN201710470666A CN107203184A CN 107203184 A CN107203184 A CN 107203184A CN 201710470666 A CN201710470666 A CN 201710470666A CN 107203184 A CN107203184 A CN 107203184A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
- G05B19/4083—Adapting programme, configuration
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
The invention discloses a kind of dynamic control method of straight line steering wheel Electric Loading System, servo loading motor is modeled first, torque balance equation is built and builds straight line steering wheel mechanism model；Ball screw assembly, motion model is set up afterwards；Then the transmission function of Electric Loading System is analyzed, and designs the Three-loop control method based on current inner loop, position outer shroud and power outer shroud, while in current inner loop application complex vector PI controls so that servo loading current of electric quickly and accurately trace command signal；Last angular velocity carries out feedforward compensation；Control method is verified.The Electric Loading System that the method for the present invention is driven using permagnetic synchronous motor is specific object, the influence of straight line characteristic of steering gear is considered simultaneously, effectively consider the degree of coupling of straight line steering wheel and Electric Loading System, and the active force of straight line steering wheel active displacement is inhibited, improve the loading accuracy of straight line loading system；And proposing verification method so that it is stronger that property can be evaluated in straight line load simulator.
Description
Technical field
The invention belongs to control device technical field, particularly a kind of kinetic controlling equation of straight line steering wheel Electric Loading System
Method.
Background technology
In national defence, aerospace field and otherwise scientific research and industrial production, usually require that to product
It can be tested to ensure the performance of designed product.And electric steering engine is the classical performer of aerospace field, to flying
The normal flight and maneuver autopilot of row device are significant, are a kind of important flight control servoelements, and straight line steering wheel is made
For a kind of new power fax actuator, it is with a wide range of applications, in addition to available for flight control system, it may also be used for aircraft
The upper occasion that other need to carry out start.In the straight line steering wheel development process of early stage, to the test of straight line steering wheel performance often
Need repeatedly to carry out the all-real object field test with self destruction, so have to waste substantial amounts of financial resources, material resources, manpower,
The development cost of great number is caused, and due to the limitation of field test quality and quantity, it is difficult to obtain experiment accurately and completely
Data and rule, cause the lengthening of lead time.
In order to ensure the research and development quality of straight line steering wheel, and its efficiency is improved, it is necessary to reappear straight line rudder using load simulator
Machine power and torque suffered under the conditions of practical application, investigate it close to the working condition under physical condition, straight to ensure
The quality of line steering wheel.The general loading system of electromechanical actuator is compared with traditional electro-hydraulic drive device, with small volume, structure letter
Singly, the features such as cost is relatively low, and the fast response time in process of the test, it is easy to control, so being especially suitable for entering straight line steering wheel
Row load test, for the various forms of load needed for its application；And this loading system mainly includes loading bench and software portion
Point, loading bench is the part being joined directly together with straight line steering wheel to be measured, to straight line steering wheel applying power and torque, therefore the structure of loading bench
Design is highly important, while the scope of application of loading bench and the convenience used govern the experiment work of straight line steering wheel；
Therefore, to improve the loading accuracy to straight line steering wheel, it is necessary to study the dynamic control method of straight line steering wheel Electric Loading System.
But the research of load simulator both at home and abroad is concentrated mainly on torsion type loading system of the rotation to rotation at present, i.e.,
The loading test object of torque type load simulator is torsional mode electric steering engine, and it is output as torque；And straight line load simulator
Loading test object be straight line steering wheel or line valve, it is output as straight line force or straight-line displacement.Load simulator is according to load
The difference of power resources, is divided into mechanical, electric-liquid type, pneumatic type and four kinds of electrodynamic type.At present, straight line loading uses swing rod
The mode of formula, mechanical or elastic rod, these straight line load modes can not meet load simulator automation, it is intelligentized will
Ask, also meaning is little for its control method.In the application of larger torque loading, mainly study be using hydraulic motor or pressurized strut as
The electric-liquid type servo loading system of executing agency, it is unnecessary that file 1 (CN106055753A) discloses a kind of electrohydraulic load simulator
The steering wheel instruction Dynamic Compensation Control Method of power, this load mode has oil leak, safeguards inconvenient, sensitive to greasy dirt and frequent
Property the shortcomings of break down, the non-linear factor such as big inertia and seal friction also largely have impact on loading essence in addition
Degree, and from control method, active movement and larger coupling stiffness due to bearing system are caused by force to loading system
Position disturbance, causes loading hydraulic motor two chamber to produce forced commutation, and the change of current produces forcing pressure, and this is to cause electric-liquid type passive
The main cause of formula torque servo system Surplus Moment, Surplus Moment is often very big, has a strong impact on loading accuracy, and electro-hydraulic system
There is the disturbing factors such as servo valve dead band, pressure oscillation and systematic parameter easily by the shadow of environment temperature and temperature change in system
Ring, and as non-linear and time-varying factor very strong system.Therefore, because non-linear and time-varying sexual factor is to electro-hydraulic load simulation
The influence of the model coefficient accuracy of device, causes the difficulty and complexity of electrohydraulic load simulator controller design to increase；
File 2 (CN106527150A) discloses a kind of non-linear composite control method of Pneumatic servo loading system, but
It is, because the features such as Low rigidity, underdamping and the pneumatic system parameter uncertainty of gas in itself constrain pneumatic servo control
The further research and application of technology, its control method meaning are little；
File 3 (CN102141484A) discloses a kind of multi-functional portable electric servo control loading device and its loading
Method, its loading mode is only static loading or CYCLIC LOADING under power control or Bit andits control, i.e., can only realize " it is active plus
Carry ", equivalent to static loading, without disturbing factors such as redundant forces, but " the passive type loading " for straight line steering wheel can not be realized；
However, the dynamic control method of passive type load simulator is always the emphasis direction studied both at home and abroad, but to negative
The loading test of rotation steering wheel, and the torsion type loading in torsion to torsion that focuses mostly on are applied to the research of load simulator more, and
Linear load simulator structure is complex, and is more difficult to suppression because being tested the redundant force caused by straight line steering wheel actively moves along a straight line
System；The straight line load simulator driven using linear servo-actuator is existed and is confined to active loading, cost is higher, manufacture
The shortcomings of repairing inconvenient, can not load to the tested straight line steering wheel of active movement.It is not directed in the prior art
The control method research of straight line steering engine load simulator, refers in particular to apply in a kind of high-precision straight line steering wheel Electric Loading System
Dynamic control method.
The content of the invention
It is an object of the invention to provide a kind of dynamic control method of straight line steering wheel Electric Loading System.
The technical solution for realizing the object of the invention is：A kind of kinetic controlling equation of straight line steering wheel Electric Loading System
Method, comprises the following steps：
Step 1, to servo loading motor model, obtain voltage equation and the torque balance side of servo loading motor
Journey；
Step 2, the first bellows coupling, the second bellows coupling, torque rotary speed sensor and ball-screw regarded
For system load, the system load is rigidly connected with servo loading motor, by servo loading motor output torque TLBe considered as by etc.
Inertia load, damping loads and the part of elastic load three composition are imitated, and builds output torque equilibrium equation；Build tested straight line rudder
The mechanism model of machine, obtains tested straight line steering wheel output displacement and input voltage relation equation；
Step 3, using ball-screw as power/moment conversion device, do not considering that ball-screw friction torque and driving turn round
In the case of square, obtain the straight line loading force and servo loading motor output torque being applied on tested straight line steering wheel relation,
Ball-screw angular displacement and the relation of tested straight line steering wheel input displacement；
Step 4, on the basis of above-mentioned steps, build straight line Rudder Loading System transmission function；
Step 5, using step 4 transfer function analysis straight line Rudder Loading System forward path characteristic and disturbance passage
Characteristic；
Step 6, the forward path characteristic according to step 5 cathetus Rudder Loading System and disturbance channel characteristic build straight line
The dynamic control structure of Rudder Loading System, the control structure includes three closed loop complex controlls of electric current loop, position ring and power ring
Structure and angular speed feedforward compensation controller, and Stribeck friction models are introduced into straight line steering wheel Electric Loading System；
Step 7, above-mentioned straight line Rudder Loading System parameters are brought into the transmission function into step 4, made straight
Line Rudder Loading System Bode diagram, its stability is judged by Bode diagram or liapunov's method, simultaneously to step if stable
Controller in rapid 6 carries out parameter tuning, and step 8 is performed afterwards, if unstable rule return to step 6；
The tested straight line steering wheel communications protocol of step 8, basis, system sets communication baud rate, set steering wheel to start, offset,
Feedback and zero-bit adjust instruction, and call corresponding RS422 serial ports drivers to send and receive system command；
Step 9, host computer setting loading mode, loading mode have two kinds of step signal loading and sinusoidal signal loading, and
Control instruction is sent to real-time controller by TCP/IP communication agreement, real-time controller is sent to after handling instruction
Servo loading motor driver, drives servo loading motor to complete loading tasks by servo loading motor driver；So as to complete
To the dynamic control of straight line steering wheel Electric Loading System.
A kind of verification method to above-mentioned straight line steering wheel Electric Loading System dynamic control method, comprises the following steps：
Step A, torque rotary speed sensor, pull pressure sensor, grating scale collection real time data simultaneously feed back to real-time control
Device carries out closed-loop control, and real-time controller sends the data to host computer and shown and stored, according to transmitted and reception
Data, complete the Drawing of Curve of command signal, feedback signal and error signal；
Step B, for step signal load, calculate its overshoot e (tp) and regulating time ts；For sinusoidal signal loading,
The amplitude error and phase error between feedback signal and setting signal are calculated, straight line steering wheel electricity is evaluated by " double ten indexs " afterwards
Dynamic loading system dynamic control method, if reaching " double ten indexs ", shows straight line steering wheel Electric Loading System dynamic control
Method is feasible, otherwise shows that current method is infeasible.
Compared with prior art, its remarkable advantage is the present invention：1) the electric current loop G in dynamic control method of the present inventioniq(s)
Complex vector PI controls can make the actual current of servo loading motor 3 rapidly and accurately track setting electric current, shorten dynamic and tracked
Journey, so that loading accuracy is effectively improved, and make the excellent motor in tested straight line steering wheel of control performance of servo loading motor 3
Control performance；2) the power ring G in dynamic control method of the present inventionF(s) using the value of feedback of pull pressure sensor come controlled loading
The power output of system, position ring Gp(s) it is used to accurately control servo loading motor angular displacement, angular speed feedforward compensation controller Gω
(s) it is used for the mechanical angular speed of the rotor of tracking servo loading motor 3, closed loop control is carried out using the Real-time Feedback of high-precision sensor
System, is effectively guaranteed the force tracing accuracy of straight line steering wheel Electric Loading System；3) method of the invention introduces Stribeck
Friction model, more accurately describes influence of the nonlinear friction factors to straight line Rudder Loading System；4) present invention is with forever
The motor-driven Electric Loading System of magnetic-synchro is specific object, while considering the influence of straight line characteristic of steering gear, is effectively considered
The degree of coupling of straight line steering wheel and Electric Loading System, and inhibit the active force of straight line steering wheel active displacement, improve straight
The loading accuracy of line loading system；5) present invention proposes the checking of the dynamic control method to straight line steering wheel Electric Loading System
Method, and introduce " double ten indexs " to weigh the dynamic control performance of straight line steering wheel Electric Loading System so that straight line loads mould
Intend the evaluable property of device stronger；6) present invention has wide applicability, and versatility is good, and plyability is strong, can be according to controlled mechanism
Actual stand under load change conditions, effectively for various sizes of straight line steering wheel or different types of linear servo mechanism, and
It can design and simulation loading is carried out to mechanism using suitable loading spectrum；Although 7) present invention is to set timing structure relative complex,
Available for passive type loading, Technical comparing is ripe, and Loading Control is more convenient, and manufacturing cost, than relatively low, is a kind of cost performance ratio
Higher servo loading form.
Brief description of the drawings
Fig. 1 is the tested open loop object control block diagram of straight line steering wheel 30.
Fig. 2 is straight line steering wheel Electric Loading System overall control block diagram.
Fig. 3 is the device front view of straight line steering wheel Electric Loading System.
Fig. 4 is the device top view of straight line steering wheel Electric Loading System.
Fig. 5 is the motion conversion system Local map of straight line steering wheel Electric Loading System device.
Fig. 6 is the single contact point stress model figure of ball-screw 10.
Fig. 7 is the Bode diagram of straight line steering wheel Electric Loading System, wherein, figure (a) is amplitude figure, and figure (b) is phase angle figure.
Fig. 8 is system signal tracking result when disturbing signal is 4mm/2Hz.
Fig. 9 is system signal tracking result when disturbing signal is 4mm/5Hz.
Figure 10 is the dynamic control method flow chart of the straight line steering wheel Electric Loading System of the present invention.
Representative implication is numbered in figure is：
1- pedestal 2-T type groove plate 3- servo loading motor 4- servo loading motor support base 5-1- the first bellows shaft couplings
Device, 5-2- the second bellows coupling 6- torque rotary speed sensor 7- torque rotary speed sensor bearing 8- support platforms 9- rollings
Ballscrew pair support unit 10- ball-screw 11- rolling ball screw pair screw nut 12- sleeve 13- connecting plate 14- grating scales are connected
Plate 15- grating ruler reading head 16- sliding block 17- guide rail 18- grating scale 19- connector 20- pull pressure sensor 21- drag chains
22- limit switch baffle plate 23- limit switch bearing 24- limit switches 25- connections section 26- connecting shafts 27- is tested axle sleeve
28- micro-displacement sensor 29- micro-displacement sensor bearings 30- is tested straight line steering wheel 31- strap 32- lifting platforms 33-
Encoder support 34- encoder 35- fasteners
Embodiment
Straight line steering wheel Electric Loading System used in the present invention, including console, power distribution cabinet and testing stand, Fig. 3 is straight line
The device front view of steering wheel Electric Loading System, Fig. 4 is the device top view of straight line steering wheel Electric Loading System, and Fig. 5 is straight line
The motion conversion system Local map of steering wheel Electric Loading System device, wherein console include PC, real-time controller, cabinet,
Data collecting card and switch board, console are used to carry out loading closed-loop control to TT＆C system testing stand and realize man-machine interaction work(
Can, power distribution cabinet is that testing stand and console provide power, and wherein testing stand includes base frame, servo loading system, motion turn
System, tested straight line steering gear system are changed, wherein base frame includes pedestal 1 and T-slot plate 2, and servo loading system includes servo
Loading motor 3, servo loading motor support base 4, the first bellows coupling 5-1, the second bellows coupling 5-2, torque rotary speed
Sensor 6 and torque rotary speed sensor bearing 7, motion conversion system include support platform 8, ball screw assembly, support unit 9, rolling
Ballscrew 10, rolling ball screw pair screw nut 11, sleeve 12, connecting plate 13, grating scale connecting plate 14, grating ruler reading head 15, sliding block
16th, guide rail 17, grating scale 18, connector 19, pull pressure sensor 20, drag chain 21, limit switch baffle plate 22, limit switch bearing
23rd, limit switch 24 and connection section 25, being tested straight line steering gear system includes connecting shaft 26, tested axle sleeve 27, micro-displacement sensor
29th, micro-displacement sensor bearing 28, tested straight line steering wheel 30, strap 31, lifting platform 32, encoder support 33, encoder
34；
In the base frame, the top of pedestal 1 sets T-slot plate 2, and T-slot plate 2 has length, the T of width both direction
Groove passage, for adjusting mounting lifting platform to adapt to the tested straight line steering wheel 30 of different size, T-slot plate 2 by fastener with
Pedestal 1 is connected, servo loading motor support base 4, torque rotary speed sensor bearing 7, support platform 8, lifting platform 32, encoder
Bearing 33 is connected by fastener with T-slot plate 2；Lifting platform 32 is installed on the T groove passages of width side, coding
Device bearing 33, servo loading motor support base 4, torque rotary speed sensor bearing 7, support platform 8 are located at the T groove passages of length direction
On, support platform 8 is located between encoder support 33 and torque rotary speed sensor bearing 7, and servo loading motor support base 4, which is located at, to be turned
The opposite side of square speed probe bearing 7；
In the servo loading system, servo loading motor 3 is fastened by fastener and servo loading motor support base 4 to be connected
Connect, be connected between motor shaft and torque rotary speed sensor 6 by the first bellows coupling 5-1, torque rotary speed sensor 6 and fortune
It is connected between ball-screw 10 in dynamic converting system by the second bellows coupling 5-2, torque rotary speed sensor 6 is by tight
Firmware is arranged on torque rotary speed sensor bearing 7；
In the motion conversion system, ball screw assembly, support unit 9, guide rail 17, grating scale are set in support platform 8
18th, the fixing end of limit switch bearing 23 and drag chain 21；The one end of ball-screw 10 is fixed, and the other end is free, and fixing end is by rolling
Ballscrew pair support unit 9 is fixed, and ball screw assembly, support unit 9 is fixed in support platform 8 by fastener；
Rolling ball screw pair screw nut 11 is connected with the front end of sleeve 12 by fastener, and the upper surface of sleeve 12 passes through fastener and company
Fishplate bar 13 is fixed, and the tail end of sleeve 12 is connected to realize linear motion output by fastener and connector 19；
The end of sleeve 12 is limited in the middle part of support platform 8 to realize mechanical position limitation, and limit switch bearing 23 is arranged on branch
Support the side of platform 8, limit switch baffle plate 22 is arranged on connecting plate 13, limit switch 24 be arranged on limit switch bearing 23 with
Realize electric limiting；
The middle part of connecting plate 13 is connected with sleeve 12 by fastener, and the two ends of connecting plate 13 are connected with sliding block 16,
And the effect limitation rolling ball screw pair screw nut 11 by line slideway and the rotation of sleeve 12, it is ensured that the output straight line fortune of sleeve 12
Dynamic, connecting plate 13 is connected with grating scale connecting plate 14 by fastener；
Grating scale 18 is arranged in the groove of support platform 8 one, and grating ruler reading head 15 is with grating scale connecting plate 14 by tight
Firmware is connected, and the displacement signal of the acquisition system of grating scale 18 feeds back to computer control system；
The one end of pull pressure sensor 20 is connected through a screw thread with connector 19, and the other end is connected with being connected section 25 by screw thread
Connect, the side of pull pressure sensor 20 is provided with signal wire, loading force is fed back to computer control system by signal wire, and signal wire is put
In drag chain 21, the mobile terminal of drag chain 21 is fixed on connecting plate 13, and the fixing end of drag chain 21 is arranged in support platform 8；
Connection 25 ends of thread of section are threadably connected with pull pressure sensor 20, and the other end is by connecting shaft 26 with being tested
Straight line steering wheel 30 is connected；
In the tested straight line steering gear system, tested axle sleeve 27 is connected with connecting shaft 26, and micro-displacement sensor 29 is pacified
On micro-displacement sensor bearing 28, the displacement that micro-displacement sensor 29 measures tested axle sleeve 27 exports and feeds back to computer
Control system, tested straight line steering wheel 30 is fixedly mounted on lifting platform 32 by strap 31, and the side of lifting platform 32 is equipped with height
Vernier knob is spent, the requirement that different type is tested the centering of straight line steering wheel 30 can be met, micro-displacement sensor bearing 28 is by tight
Firmware is fixed on lifting platform 32；
Encoder support 33 is arranged on T-slot plate 2, and encoder 34 is arranged on encoder support 33, is tested straight line rudder
The output shaft opposite side of machine 30 is connected with encoder 34；
Described servo loading motor 3, torque rotary speed sensor 6, ball-screw 10, connector 19, pull pressure sensor
20th, connection section 25, tested straight-line motion mechanism 30 and encoder 34 are coaxially connected；
Described sleeve 12, connecting plate 13, grating scale connecting plate 14, limit switch baffle plate 22 and limit switch bearing 23 is adopted
Use high-strength hard aluminum alloy material；Connector 19, connection section 25, connecting shaft 26 are using 45 Steel materials and modifier treatment；
The power distribution cabinet includes servo loading motor driver, programmable power supply and braking resistor, loading motor driver
It is connected with the servo loading motor 3 in testing stand by motor braking band-type brake cable, feedback cable, loading motor driver and control
Device processed is connected, and programmable power supply is that tested straight-line motion mechanism 30 is powered；The console include host computer, real-time controller,
TT＆C software is installed, host computer is logical by TCP/IP in data collecting card, signal processing system, cabinet and terminal box, host computer
Letter agreement communicates and real-time monitoring system state with real-time controller, real-time controller and loading motor driver, tested straight line
Motion driver is connected；Host computer sets loading mode and is sent to control instruction in real time by TCP/IP communication agreement
Controller, real-time controller is sent to servo loading motor driver after handling instruction, is driven by servo loading motor
Device driving servo loading motor completes loading tasks, while torque rotary speed sensor 6, pull pressure sensor 20, grating scale 18 are adopted
Collection real time data simultaneously feeds back to real-time controller progress closed-loop control, and real-time controller sends the data to host computer and shown
And storage.
A kind of dynamic control method based on above-mentioned straight line steering wheel Electric Loading System, its step is：
Step 1, servo loading motor 3 is modeled, obtain voltage equation and the torque balance side of servo loading motor 3
Journey；
Servo loading motor 3 is the mounted non-salient pole permagnetic synchronous motor in face, and to ensure loading accuracy, servo loading motor 3 is adopted
Use vector control method；When permagnetic synchronous motor mounted using face, according to permagnetic synchronous motor in d-q shafting drags, obtain
The voltage equation and torque balance equation of servo loading motor 3；Wherein, voltage equation is：
In formula, uq、iqRespectively voltage and current of the stator of servo loading motor 3 on q axles；LmFor equivalent inductance；RmFor
Stator winding resistance；KeFor back electromotive force constant；ωmFor the mechanical angular speed of the rotor of servo loading motor 3；
The torque balance equation of servo loading motor 3 is：
In formula, TmFor the motor electromagnetic torque of servo loading motor 3；JmFor motor rotary inertia；BmFor joint damping coefficient；
TLFor the output torque of servo loading motor 3.
Step 2, straight line steering wheel Electric Loading System need to be through shaft coupling, ball wires by the torque output of servo loading motor 3
The elements such as thick stick pair are converted to straight line loading force, and the rigidity of motion conversion element can influence loading performance to a certain extent；Will
First bellows coupling 5-1, the second bellows coupling 5-2, torque rotary speed sensor 6 and ball-screw 10 are considered as system and born
Carry, the system load is rigidly connected with servo loading motor 3, by the output torque T of servo loading motor 3LIt is considered as by equivalent inertia
Load, damping loads and the part of elastic load three composition, and build output torque equilibrium equation；Build tested straight line steering wheel 30
Mechanism model, obtains the tested output displacement of straight line steering wheel 30 and input voltage relation equation；
Wherein, output torque equilibrium equation is：
In formula, JLFor load equivalent rotary inertia；BLFor load equivalent damped coefficient；KLFor load equivalent elastic stiffness system
Number；θLFor the load correspondence angular displacement of ball-screw 10；θmFor the angular displacement of servo loading motor 3；
Tested straight line steering wheel 30 uses the indirect drive scheme of high speed reducing ratio, i.e. motor acceleration and deceleration device and ball screw assembly,
Type of belt drive, uses motor for direct current torque motor, and Fig. 1 is the tested open loop object control block diagram of straight line steering wheel 30, is tested straight
The input voltage of line steering wheel 30 and output displacement relation equation：
In formula, u is the tested input voltage of straight line steering wheel 30；L1To be tested the output displacement of straight line steering wheel 30；KdmFor motor
Electric torque coefficient；Kd0For motor coefficient of power amplifier；kjTo be tested the speed reducing ratio of straight line steering wheel 30；P1For in tested straight line steering wheel 30
Ball-screw helical pitch；KdeFor winding back emf coefficient；RdFor armature resistance；LdFor armature inductance；JdFor motor load
Rotary inertia；BdFor joint damping coefficient.
In Fig. 1, idTo be tested the current of electric of straight line steering wheel 30；TdTo be tested the motor output torque of straight line steering wheel 30；ωdFor
The tested motor angular velocity of straight line steering wheel 30；θ1For ball-screw angular displacement in tested straight line steering wheel 30.
Step 3, using ball-screw 10 as power/moment conversion device, do not considering the friction torque of ball-screw 10 and drive
In the case of dynamic torque, by the single contact point stress model of Fig. 6 ball-screws 10, obtain being applied on tested straight line steering wheel 30
The relation of straight line loading force and the output torque of servo loading motor 3, the angular displacement of ball-screw 10 are inputted with tested straight line steering wheel 30
The relation of displacement；The straight line loading force being applied on tested straight line steering wheel 30 and the relation of the output torque of servo loading motor 3 are：
In formula, F is straight line loading force；R is the radius of ball-screw 10；λ is the lead angle of ball-screw 10；
The angular displacement of ball-screw 10 and the relation of the tested input displacement of straight line steering wheel 30 are：
In formula, L1To be tested the input displacement of straight line steering wheel 30；P is the helical pitch of ball-screw 10.
Step 4, on the basis of above-mentioned steps, Fig. 2 is straight line steering wheel Electric Loading System overall control block diagram, is built straight
The transmission function of line Rudder Loading System：
F=G1uq-G2G3u
Wherein:
In formula, KtFor the electric torque coefficient of servo loading motor 3.
Step 5, using step 4 transfer function analysis straight line Rudder Loading System forward path characteristic and disturbance passage
Characteristic；U=0 is made, that is, is tested straight line steering wheel 30 and is in locking state, represents straight line Rudder Loading System not by tested straight line steering wheel
The forward path characteristic of 30 disturbances, is expressed as：
Make uq=0, the disturbance channel characteristic of straight line Rudder Loading System is represented, and negative sign represents direction and the quilt of perturbed force
The direction of displacement of straight line steering wheel 30 is surveyed on the contrary, being expressed as：
In formula, G4For forward path characteristic coefficient；G5For disturbance channel characteristic coefficient.
Step 6, the forward path characteristic according to step 5 cathetus Rudder Loading System and disturbance channel characteristic build straight line
The dynamic control structure of Rudder Loading System, the control structure includes three closed loop complex controlls of electric current loop, position ring and power ring
Structure and angular speed feedforward compensation controller, and Stribeck friction models are introduced into straight line steering wheel Electric Loading System；Electricity
Flow ring Giq(s) using complex vector PI controls, for making the electric current of servo loading motor 3 quickly and accurately trace command signal, electric current
The transmission function that ring complex vector PI is controlled is：
In formula：For d-q shafting electric currents；For d-q shafting current setting values；KCP、KCIIt mutually should be the ratio of PI controllers
And integral constant；PmFor motor number of pole-pairs；
Power ring G in the step 6F(s) it is defeated come the power of controlled loading system using the value of feedback of pull pressure sensor 20
Go out, position ring Gp(s) it is used to accurately control the angular displacement of servo loading motor 3, angular speed feedforward compensation controller Gω(s) be used for
The rotor of track servo loading motor 3 machinery angular speed；
Power ring G in the step 6F(s), position ring GpAnd angular speed feedforward compensation controller G (s)ω(s) PID is used
Control, formula used is：
In formula, u (t) is the controlled variable of system；E (t) is error amount；KP1、Ki1、Kd1Respectively proportionality coefficient, integration are normal
Number and derivative constant；
Stribeck friction models in the step 6 are：
When | ωm| during ＜ α, static friction is：
In formula, F1(t)=Jmα(t)；
When | ωm| during ＞ α, dynamic friction is：
In formula：F1(t) it is driving force；FmFor maximum static friction force；FcFor coulomb friction；kVFor viscous friction torque ratio
Example coefficient；α (t) is the angular acceleration of servo loading motor 3；α and α1For very small positive number.
Step 7, above-mentioned straight line Rudder Loading System parameters are brought into the transmission function into step 4, made straight
Line Rudder Loading System Bode diagram, its stability is judged by Bode diagram or liapunov's method, simultaneously to step if stable
Controller in rapid 6 carries out parameter tuning, and step 8 is performed afterwards, if unstable rule return to step 6；To controller in step 7
Carry out pid parameter to adjust using continuous Ziegler-Nichols methods, tuning formulae is：
KmStart yield value during vibration for system；ωm1For frequency of oscillation；Kp、KiAnd KdIt mutually should be the ratio of PID controller
Example, integration and derivative constant.
Step 8, according to the tested communications protocol of straight line steering wheel 30, system sets communication baud rate, sets steering wheel to start, partially
Move, feed back and zero-bit adjust instruction, and call corresponding RS422 serial ports drivers to send and receive system command；Wherein, own
Coding line is 16 system forms, and most-significant byte is rear, and least-significant byte is preceding；
Step 9, host computer setting loading mode, loading mode have two kinds of step signal loading and sinusoidal signal loading, and
Control instruction is sent to real-time controller by TCP/IP communication agreement, real-time controller is sent to after handling instruction
Servo loading motor driver, drives servo loading motor 3 to complete loading tasks by servo loading motor driver；So as to complete
To the dynamic control of straight line steering wheel Electric Loading System.
A kind of verification method to above-mentioned straight line steering wheel Electric Loading System dynamic control method, comprises the following steps：
Step A, torque rotary speed sensor 6, pull pressure sensor 20, the collection real time data of grating scale 18 simultaneously feed back in real time
Controller carries out closed-loop control, and real-time controller sends the data to host computer and shown and stored, according to it is transmitted with connect
The data of receipts, complete the Drawing of Curve of command signal, feedback signal and error signal；
Step B, for step signal load, calculate its overshoot e (tp) and regulating time ts；For sinusoidal signal loading,
The amplitude error and phase error between feedback signal and setting signal are calculated, straight line steering wheel electricity is evaluated by " double ten indexs " afterwards
Dynamic loading system dynamic control method, if reaching " double ten indexs ", shows straight line steering wheel Electric Loading System dynamic control
Method is feasible, otherwise shows that current method is infeasible.
Wherein, described " double ten indexs " refers to that the amplitude error of sinusoidal feedback signal is less than ± 10% and phase error variations
Less than 10 °.
The present invention in order to solve existing load simulator (servo loading system) based on the simulation of one-dimensional power/torque, it is compound
Property poor and not high versatility the problems such as, in order to solve existing Based on Electro-hydraulic Loading Servo System because load object active movement and
To caused by loading system very strong position interference, larger redundant force, safeguard inconvenient the problems such as, also for solving using straight
The electrodynamic type servo loading of line servomotor exists and is confined to active loading, cost is higher, it is inconvenient to manufacture maintenance
The shortcomings of, a kind of dynamic control method of straight line steering wheel Electric Loading System of the invention, loading system can be effectively for straight
Line steering wheel different model size applies suitable loading spectrum and carries out simulation loading to it, and carrying dynamic control method can be effectively
Load test function with realizing straight line load simulator, and the loading accuracy of straight line load simulator can be improved to more than 90%,
Effectively inhibit the redundant force of tested steering wheel.
Specifically described with reference to embodiment：
Embodiment 1
For the checking present invention, as shown in table 1, straight line steering wheel Electric Loading System parameter is such as the selected each component of embodiment
Shown in table 2.
Each components selection of the testing stand of table 1
The systematic parameter of table 2
| Parameter | Parameter value | Unit | Meaning |
| Kt | 1.75 | Nm/A | Electromagnetic torque constant |
| Ke | 112 | V/Krpm | Back electromotive force constant |
| KL | 6000 | Nm/rad | Elastic stiffness constant |
| JL | 8.81×10-5 | Kgm2 | The rotary inertia of load |
| Lm | 11.4 | mH | Inductance constant |
| Rm | 2.1 | Ω | The winding resistance of stator |
| Jm | 9.1×10-4 | Kgm2 | PMSM rotary inertias |
| Bm | 0.052 | Nm/Krpm | Motor damping constant |
| P | 25 | mm | Guide screw lead |
Secondly, whether analysis system is stablized, and the Bode diagram of system, Bode diagram are made using MATLAB as shown in fig. 7, by primary
Moral figure decision-making system is stable；Electric current loop G is setiq(s) controller parameter is：KCP=4.1, KCI=450, KCω=1000；Set
Position ring Gp(s) controller parameter is：P1=1.32, I1=0.61, D1=0.02；Power ring G is setF(s) controller parameter is：P2
=1.38, I2=0.89, D2=1.01.
Programmed based on LabVIEW graphic programmings and MATLAB, write TT＆C software, and it is real to carry out sinusoidal signal loading
Test, signal trace curve is as shown in Figure 8,9.The tested setting amplitude of straight line steering wheel 30 is 4mm, frequency is 2Hz and the sinusoidal of 5Hz is believed
Number be driving instruction signal, servo loading motor 3 set amplitude be that 3000N, frequency and disturbing signal identical sinusoidal signal are
Load command signal.For being tested straight line steering wheel 30, its control is output as displacement, and its output is tested using Electric Loading System
Power, to examine whether its thrust meets requirement.Electric Loading System debugging at initial stage, experimental period is shorter.In Fig. 8,9, indicate
Force_Setpoint, Force_Feedback and Force_Error curve are respectively setting loading curve, loading feedback song
Line and for error curve.Obtained by Fig. 8, when the tested output frequency of straight line steering wheel 30 is 2Hz, measuring feedback profile positive peak is
3163.94N, negative peak value is -3241.32N, and phase is -7.87 °, and the ratio for defining value of feedback and setting value is loading accuracy, loading
Precision is 91.96%；When the tested output frequency of straight line steering wheel 30 is 5Hz, feedback profile positive peak is measured for 3258.33N, instead
Peak value is -3267.54N, and phase is -9.33 °, and loading accuracy is 91.08%, and feedback profile and the phase difference for setting curve are small
In 10 °, amplitude error also within 10%, has admirably achieved " double ten indexs ", has been effectively tested this tested straight line steering wheel
30 disclosure satisfy that the real of 3000N carries dynamic thrust.
Claims (10)
1. a kind of dynamic control method of straight line steering wheel Electric Loading System, it is characterised in that comprise the following steps：
Step 1, to servo loading motor (3) model, obtain voltage equation and the torque balance side of servo loading motor (3)
Journey；
Step 2, by the first bellows coupling (5-1), the second bellows coupling (5-2), torque rotary speed sensor (6) and rolling
Ballscrew (10) is considered as system load, and the system load is rigidly connected with servo loading motor (3), by servo loading motor (3)
Output torque TLIt is considered as and is made up of equivalent inertia load, damping loads and the part of elastic load three, and builds output torque balance
Equation；The mechanism model of tested straight line steering wheel (30) is built, tested straight line steering wheel (30) output displacement is obtained and input voltage is closed
It is equation；
Step 3, using ball-screw (10) as power/moment conversion device, do not considering ball-screw (10) friction torque and drive
In the case of dynamic torque, the straight line loading force for obtaining being applied on tested straight line steering wheel (30) is exported with servo loading motor (3)
Relation, ball-screw (10) angular displacement and the relation of tested straight line steering wheel (30) input displacement of torque；
Step 4, on the basis of above-mentioned steps, build straight line Rudder Loading System transmission function；
Step 5, using step 4 transfer function analysis straight line Rudder Loading System forward path characteristic and disturbance passage it is special
Property；
Step 6, the forward path characteristic according to step 5 cathetus Rudder Loading System and disturbance channel characteristic build straight line steering wheel
The dynamic control structure of loading system, the control structure includes three closed loop compound control structures of electric current loop, position ring and power ring
With angular speed feedforward compensation controller, and Stribeck friction models are introduced into straight line steering wheel Electric Loading System；
Step 7, above-mentioned straight line Rudder Loading System parameters are brought into the transmission function into step 4, make straight line rudder
Machine loading system Bode diagram, its stability is judged by Bode diagram or liapunov's method, simultaneously in step 6 if stable
Controller carry out parameter tuning, step 8 is performed afterwards, if unstable rule return to step 6；
Tested straight line steering wheel (30) communications protocol of step 8, basis, system sets communication baud rate, set steering wheel to start, offset,
Feedback and zero-bit adjust instruction, and call corresponding RS422 serial ports drivers to send and receive system command；
Step 9, host computer setting loading mode, loading mode have step signal loading and sinusoidal signal to load two kinds, and will control
System instruction is sent to real-time controller by TCP/IP communication agreement, and real-time controller is sent to servo after handling instruction
Loading motor driver, drives servo loading motor (3) to complete loading tasks by servo loading motor driver；So as to complete pair
The dynamic control of straight line steering wheel Electric Loading System.
2. the dynamic control method of straight line steering wheel Electric Loading System according to claim 1, it is characterised in that step 1
The voltage equation of middle servo loading motor (3) is：
<mrow>
<msub>
<mi>u</mi>
<mi>q</mi>
</msub>
<mo>=</mo>
<msub>
<mi>L</mi>
<mi>m</mi>
</msub>
<mfrac>
<mrow>
<msub>
<mi>di</mi>
<mi>q</mi>
</msub>
</mrow>
<mrow>
<mi>d</mi>
<mi>t</mi>
</mrow>
</mfrac>
<mo>+</mo>
<msub>
<mi>R</mi>
<mi>m</mi>
</msub>
<msub>
<mi>i</mi>
<mi>q</mi>
</msub>
<mo>+</mo>
<msub>
<mi>K</mi>
<mi>e</mi>
</msub>
<msub>
<mi>&omega;</mi>
<mi>m</mi>
</msub>
</mrow>
In formula, uq、iqRespectively voltage and current of servo loading motor (3) stator on q axles；LmFor equivalent inductance；RmIt is fixed
Sub- winding resistance；KeFor back electromotive force constant；ωmFor the mechanical angular speed of servo loading motor (3) rotor；
The torque balance equation of servo loading motor (3) is：
<mrow>
<msub>
<mi>T</mi>
<mi>m</mi>
</msub>
<mo>=</mo>
<msub>
<mi>J</mi>
<mi>m</mi>
</msub>
<mfrac>
<mrow>
<msub>
<mi>d&omega;</mi>
<mi>m</mi>
</msub>
</mrow>
<mrow>
<mi>d</mi>
<mi>t</mi>
</mrow>
</mfrac>
<mo>+</mo>
<msub>
<mi>B</mi>
<mi>m</mi>
</msub>
<msub>
<mi>&omega;</mi>
<mi>m</mi>
</msub>
<mo>+</mo>
<msub>
<mi>T</mi>
<mi>L</mi>
</msub>
</mrow>
In formula, TmFor servo loading motor (3) motor electromagnetic torque；JmFor motor rotary inertia；BmFor joint damping coefficient；TLFor
Servo loading motor (3) output torque.
3. the dynamic control method of straight line steering wheel Electric Loading System according to claim 1, it is characterised in that step 2
In output torque equilibrium equation be：
<mrow>
<msub>
<mi>T</mi>
<mi>L</mi>
</msub>
<mo>=</mo>
<msub>
<mi>J</mi>
<mi>L</mi>
</msub>
<mfrac>
<mrow>
<msup>
<mi>d</mi>
<mn>2</mn>
</msup>
<msub>
<mi>&theta;</mi>
<mi>m</mi>
</msub>
</mrow>
<mrow>
<msup>
<mi>dt</mi>
<mn>2</mn>
</msup>
</mrow>
</mfrac>
<mo>+</mo>
<msub>
<mi>B</mi>
<mi>L</mi>
</msub>
<mfrac>
<mrow>
<msub>
<mi>d&theta;</mi>
<mi>m</mi>
</msub>
</mrow>
<mrow>
<mi>d</mi>
<mi>t</mi>
</mrow>
</mfrac>
<mo>+</mo>
<msub>
<mi>K</mi>
<mi>L</mi>
</msub>
<mrow>
<mo>(</mo>
<msub>
<mi>&theta;</mi>
<mi>m</mi>
</msub>
<mo>-</mo>
<msub>
<mi>&theta;</mi>
<mi>L</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
In formula, JLFor load equivalent rotary inertia；BLFor load equivalent damped coefficient；KLFor load equivalent elastic stiffness coefficient；θL
For load correspondence ball-screw (10) angular displacement；θmFor servo loading motor (3) angular displacement；
The tested straight line steering wheel (30) uses motor for direct current torque motor using the indirect driving of high speed reducing ratio, is tested
Straight line steering wheel (30) input voltage and output displacement relation equation：
<mrow>
<mfrac>
<msub>
<mi>L</mi>
<mn>1</mn>
</msub>
<mi>u</mi>
</mfrac>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>K</mi>
<mrow>
<mi>d</mi>
<mi>m</mi>
</mrow>
</msub>
<msub>
<mi>K</mi>
<mrow>
<mi>d</mi>
<mn>0</mn>
</mrow>
</msub>
<msub>
<mi>k</mi>
<mi>j</mi>
</msub>
<msub>
<mi>P</mi>
<mn>1</mn>
</msub>
</mrow>
<mrow>
<mn>2</mn>
<mi>&pi;</mi>
<mi>s</mi>
<mo>&lsqb;</mo>
<msub>
<mi>K</mi>
<mrow>
<mi>d</mi>
<mi>e</mi>
</mrow>
</msub>
<msub>
<mi>K</mi>
<mrow>
<mi>d</mi>
<mi>m</mi>
</mrow>
</msub>
<mo>+</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>R</mi>
<mi>d</mi>
</msub>
<mo>+</mo>
<msub>
<mi>L</mi>
<mi>d</mi>
</msub>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mrow>
<mo>(</mo>
<msub>
<mi>J</mi>
<mi>d</mi>
</msub>
<mi>s</mi>
<mo>+</mo>
<msub>
<mi>B</mi>
<mi>d</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
</mrow>
</mfrac>
</mrow>
In formula, u is tested straight line steering wheel (30) input voltage；L1To be tested straight line steering wheel (30) output displacement；KdmFor motor
Electric torque coefficient；Kd0For motor coefficient of power amplifier；kjTo be tested the speed reducing ratio of straight line steering wheel (30)；P1To be tested straight line steering wheel
(30) ball-screw helical pitch in；KdeFor winding back emf coefficient；RdFor armature resistance；LdFor armature inductance；JdFor electricity
Machine load rotating inertia；BdFor joint damping coefficient.
4. the dynamic control method of straight line steering wheel Electric Loading System according to claim 1, it is characterised in that step 3
In the straight line loading force that is applied on tested straight line steering wheel (30) and the relation of servo loading motor (3) output torque be：
<mrow>
<mi>F</mi>
<mo>=</mo>
<mfrac>
<msub>
<mi>T</mi>
<mi>L</mi>
</msub>
<mrow>
<mi>r</mi>
<mi> </mi>
<mi>tan</mi>
<mi>&lambda;</mi>
</mrow>
</mfrac>
</mrow>
In formula, F is straight line loading force；R is ball-screw (10) radius；λ is ball-screw (10) lead angle；
Ball-screw (10) angular displacement and the relation of tested straight line steering wheel (30) input displacement are：
<mrow>
<msub>
<mi>&theta;</mi>
<mi>L</mi>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<mn>2</mn>
<msub>
<mi>&pi;L</mi>
<mn>1</mn>
</msub>
</mrow>
<mi>P</mi>
</mfrac>
</mrow>
In formula, L1To be tested straight line steering wheel (30) input displacement；P is ball-screw (10) helical pitch.
5. the dynamic control method of straight line steering wheel Electric Loading System according to claim 1, it is characterised in that step 4
In the transmission function of straight line Rudder Loading System be：
F=G1uq-G2G3u
Wherein:
<mrow>
<msub>
<mi>G</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>K</mi>
<mi>t</mi>
</msub>
<mrow>
<mo>(</mo>
<msub>
<mi>J</mi>
<mi>L</mi>
</msub>
<msup>
<mi>s</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<msub>
<mi>B</mi>
<mi>L</mi>
</msub>
<mi>s</mi>
<mo>+</mo>
<msub>
<mi>K</mi>
<mi>L</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mo>{</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>L</mi>
<mi>m</mi>
</msub>
<mi>s</mi>
<mo>+</mo>
<msub>
<mi>R</mi>
<mi>m</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>&lsqb;</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>J</mi>
<mi>m</mi>
</msub>
<mo>+</mo>
<msub>
<mi>J</mi>
<mi>L</mi>
</msub>
<mo>)</mo>
</mrow>
<msup>
<mi>s</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>B</mi>
<mi>m</mi>
</msub>
<mo>+</mo>
<msub>
<mi>B</mi>
<mi>L</mi>
</msub>
<mo>)</mo>
</mrow>
<mi>s</mi>
<mo>+</mo>
<msub>
<mi>K</mi>
<mi>L</mi>
</msub>
<mo>&rsqb;</mo>
<mo>+</mo>
<msub>
<mi>K</mi>
<mi>t</mi>
</msub>
<msub>
<mi>K</mi>
<mi>e</mi>
</msub>
<mi>s</mi>
<mo>}</mo>
<mi>r</mi>
<mi> </mi>
<mi>t</mi>
<mi>a</mi>
<mi>n</mi>
<mi>&lambda;</mi>
</mrow>
</mfrac>
</mrow>
<mrow>
<msub>
<mi>G</mi>
<mn>2</mn>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>K</mi>
<mi>L</mi>
</msub>
<mi>s</mi>
<mo>&lsqb;</mo>
<msub>
<mi>K</mi>
<mi>t</mi>
</msub>
<msub>
<mi>K</mi>
<mi>e</mi>
</msub>
<mo>+</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>J</mi>
<mi>m</mi>
</msub>
<mi>s</mi>
<mo>+</mo>
<msub>
<mi>B</mi>
<mi>m</mi>
</msub>
<mo>)</mo>
</mrow>
<mrow>
<mo>(</mo>
<msub>
<mi>L</mi>
<mi>m</mi>
</msub>
<mi>s</mi>
<mo>+</mo>
<msub>
<mi>R</mi>
<mi>m</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
</mrow>
<mrow>
<mo>{</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>L</mi>
<mi>m</mi>
</msub>
<mi>s</mi>
<mo>+</mo>
<msub>
<mi>R</mi>
<mi>m</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>&lsqb;</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>J</mi>
<mi>m</mi>
</msub>
<mo>+</mo>
<msub>
<mi>J</mi>
<mi>L</mi>
</msub>
<mo>)</mo>
</mrow>
<msup>
<mi>s</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>B</mi>
<mi>m</mi>
</msub>
<mo>+</mo>
<msub>
<mi>B</mi>
<mi>L</mi>
</msub>
<mo>)</mo>
</mrow>
<mi>s</mi>
<mo>+</mo>
<msub>
<mi>K</mi>
<mi>L</mi>
</msub>
<mo>&rsqb;</mo>
<mo>+</mo>
<msub>
<mi>K</mi>
<mi>t</mi>
</msub>
<msub>
<mi>K</mi>
<mi>e</mi>
</msub>
<mi>s</mi>
<mo>}</mo>
<mi>r</mi>
<mi> </mi>
<mi>t</mi>
<mi>a</mi>
<mi>n</mi>
<mi>&lambda;</mi>
</mrow>
</mfrac>
<mo>&CenterDot;</mo>
<mfrac>
<mrow>
<mn>2</mn>
<mi>&pi;</mi>
</mrow>
<mi>P</mi>
</mfrac>
</mrow>
<mrow>
<msub>
<mi>G</mi>
<mn>3</mn>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>K</mi>
<mrow>
<mi>d</mi>
<mi>m</mi>
</mrow>
</msub>
<msub>
<mi>K</mi>
<mrow>
<mi>d</mi>
<mn>0</mn>
</mrow>
</msub>
<msub>
<mi>k</mi>
<mi>j</mi>
</msub>
<msub>
<mi>P</mi>
<mn>1</mn>
</msub>
</mrow>
<mrow>
<mn>2</mn>
<mi>&pi;</mi>
<mi>s</mi>
<mo>&lsqb;</mo>
<msub>
<mi>K</mi>
<mrow>
<mi>d</mi>
<mi>e</mi>
</mrow>
</msub>
<msub>
<mi>K</mi>
<mrow>
<mi>d</mi>
<mi>m</mi>
</mrow>
</msub>
<mo>+</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>R</mi>
<mi>d</mi>
</msub>
<mo>+</mo>
<msub>
<mi>L</mi>
<mi>d</mi>
</msub>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mrow>
<mo>(</mo>
<msub>
<mi>J</mi>
<mi>d</mi>
</msub>
<mi>s</mi>
<mo>+</mo>
<msub>
<mi>B</mi>
<mi>d</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
</mrow>
</mfrac>
</mrow>
In formula, KtFor servo loading motor (3) electric torque coefficient.
6. the dynamic control method of straight line steering wheel Electric Loading System according to claim 1, it is characterised in that step 5
Using the forward path characteristic and disturbance channel characteristic of above-mentioned transfer function analysis straight line Rudder Loading System, it is specially：
U=0 is made, that is, is tested straight line steering wheel (30) and is in locking state, represents straight line Rudder Loading System not by tested straight line rudder
The forward path characteristic of machine (30) disturbance, is expressed as：
<mrow>
<msub>
<mi>G</mi>
<mn>4</mn>
</msub>
<mo>=</mo>
<mfrac>
<mi>F</mi>
<msub>
<mi>u</mi>
<mi>q</mi>
</msub>
</mfrac>
</mrow>
Make uq=0, the disturbance channel characteristic of straight line Rudder Loading System is represented, and negative sign represents that the direction of perturbed force is straight with being tested
The direction of displacement of line steering wheel (30) is on the contrary, be expressed as：
<mrow>
<msub>
<mi>G</mi>
<mn>5</mn>
</msub>
<mo>=</mo>
<mo>-</mo>
<mfrac>
<mi>F</mi>
<mi>u</mi>
</mfrac>
</mrow>
In formula, G4For forward path characteristic coefficient；G5For disturbance channel characteristic coefficient.
7. the dynamic control method of straight line steering wheel Electric Loading System according to claim 1, it is characterised in that step 6
In electric current loop Giq(s) using complex vector PI controls, for making servo loading motor (3) electric current, quickly and accurately trace command is believed
Number, the transmission function that electric current loop complex vector PI is controlled is：
<mrow>
<mfrac>
<msubsup>
<mi>i</mi>
<mi>s</mi>
<mrow>
<mi>d</mi>
<mi>q</mi>
</mrow>
</msubsup>
<msubsup>
<mi>i</mi>
<mi>s</mi>
<mrow>
<mi>d</mi>
<mi>q</mi>
<mi>*</mi>
</mrow>
</msubsup>
</mfrac>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>K</mi>
<mrow>
<mi>C</mi>
<mi>P</mi>
</mrow>
</msub>
<mi>s</mi>
<mo>+</mo>
<msub>
<mi>jK</mi>
<mrow>
<mi>C</mi>
<mi>I</mi>
</mrow>
</msub>
<msub>
<mi>P</mi>
<mi>m</mi>
</msub>
<msub>
<mi>&omega;</mi>
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In formula：For d-q shafting electric currents；For d-q shafting current setting values；KCP、KCIIt mutually should be the ratio and product of PI controllers
Divide constant；PmFor motor number of pole-pairs；
The power ring GF(s) exported using the value of feedback of pull pressure sensor (20) come the power of controlled loading system, position ring Gp
(s) it is used to accurately control servo loading motor (3) angular displacement, angular speed feedforward compensation controller Gω(s) add for tracking servo
Carry the mechanical angular speed of motor (3) rotor；
The power ring GF(s), position ring GpAnd angular speed feedforward compensation controller G (s)ω(s) PID control, formula used are used
For：
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In formula, u (t) is the controlled variable of system；E (t) is error amount；KP1、Ki1、Kd1Respectively proportionality coefficient, integral constant and
Derivative constant；
Described Stribeck friction models are：
When | ωm| during ＜ α, static friction is：
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In formula, F1(t)=Jmα(t)；
When | ωm| during ＞ α, dynamic friction is：
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In formula, F1(t) it is driving force；FmFor maximum static friction force；FcFor coulomb friction；kVFor viscous friction proportion of torque system
Number；α (t) is servo loading motor (3) angular acceleration；α and α1For very small positive number.
8. the dynamic control method of straight line steering wheel Electric Loading System according to claim 1, it is characterised in that step 7
In pid parameter carried out to controller adjusted using continuous Ziegler-Nichols methods, tuning formulae is：
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3
KmStart yield value during vibration for system；ωm1For frequency of oscillation；Kp、KiAnd KdIt mutually should be ratio, the product of PID controller
Divide and derivative constant.
9. a kind of verification method to straight line steering wheel Electric Loading System dynamic control method described in claim 1, its feature exists
In comprising the following steps：
Step A, torque rotary speed sensor (6), pull pressure sensor (20), grating scale (18) collection real time data simultaneously feed back to reality
When controller carry out closed-loop control, real-time controller sends the data to host computer and shown and stored, according to it is transmitted with
The data of reception, complete the Drawing of Curve of command signal, feedback signal and error signal；
Step B, for step signal load, calculate its overshoot e (tp) and regulating time ts；For sinusoidal signal loading, calculate
Amplitude error and phase error between feedback signal and setting signal, are added by " double ten indexs " evaluation straight line steering wheel is electronic afterwards
Loading system dynamic control method, if reaching " double ten indexs ", shows straight line steering wheel Electric Loading System dynamic control method
It is feasible, otherwise show that current method is infeasible.
10. the verification method of straight line steering wheel Electric Loading System dynamic control method according to claim 9, its feature exists
In " double ten indexs " refers to the amplitude error of sinusoidal feedback signal less than ± 10% and phase error variations are less than 10 °.
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| CN108152063A (en) * | 2017-12-12 | 2018-06-12 | 北京自动化控制设备研究所 | A kind of elastic linear load simulating device |
| CN108267313A (en) * | 2017-12-27 | 2018-07-10 | 中国航发中传机械有限公司 | The load test control method and system of tail reducer of helicopter control stick bearing |
| CN108631693A (en) * | 2018-04-28 | 2018-10-09 | 北京机械设备研究所 | A kind of electric steering engine step response peak point current suppressing method and system |
| CN108803378A (en) * | 2018-08-08 | 2018-11-13 | 四川大学 | Data processing method, device, flight simulator and storage medium |
| CN108803668A (en) * | 2018-06-22 | 2018-11-13 | 航天图景（北京）科技有限公司 | A kind of intelligent patrol detection unmanned plane Towed bird system of static object monitoring |
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| CN111003207A (en) * | 2019-12-06 | 2020-04-14 | 江西洪都航空工业集团有限责任公司 | Stability margin testing system and method for aircraft steering engine dynamic stiffness test bed |
| CN111003205A (en) * | 2019-12-06 | 2020-04-14 | 江西洪都航空工业集团有限责任公司 | Control method for improving robustness of steering engine dynamic stiffness test system |
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| CN110543096A (en) * | 2019-09-18 | 2019-12-06 | 吉林大学 | force feedback composite control method suitable for electric simulation loading system |
| CN111003205A (en) * | 2019-12-06 | 2020-04-14 | 江西洪都航空工业集团有限责任公司 | Control method for improving robustness of steering engine dynamic stiffness test system |
| CN111003207A (en) * | 2019-12-06 | 2020-04-14 | 江西洪都航空工业集团有限责任公司 | Stability margin testing system and method for aircraft steering engine dynamic stiffness test bed |
| CN110895418A (en) * | 2019-12-30 | 2020-03-20 | 北京理工大学 | Low-speed rotating aircraft control method and system for compensating dynamic lag of steering engine |
| CN111813134A (en) * | 2020-06-16 | 2020-10-23 | 湖北航天技术研究院总体设计所 | Stability judging method and system for aircraft control system |
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| CN112173165A (en) * | 2020-09-18 | 2021-01-05 | 凯迈（洛阳）测控有限公司 | Linear force loading system redundant force compensation control device and compensation control method |
| CN114465536A (en) * | 2020-10-30 | 2022-05-10 | 北京机械设备研究所 | Electric steering engine capable of canceling linear displacement sensor and control method thereof |
| CN114465536B (en) * | 2020-10-30 | 2024-05-03 | 北京机械设备研究所 | Linear electric steering engine without linear displacement sensor and control method thereof |
| CN112985867A (en) * | 2021-03-19 | 2021-06-18 | 乐聚(深圳)机器人技术有限公司 | Steering engine test method, device, equipment and storage medium |
| CN112985867B (en) * | 2021-03-19 | 2023-11-17 | 乐聚(深圳)机器人技术有限公司 | Steering engine testing method, device, equipment and storage medium |
| CN114715372A (en) * | 2022-01-26 | 2022-07-08 | 重庆大学 | Direct-drive efficient low-noise electric steering engine and control system and control method thereof |
| CN116339171A (en) * | 2023-03-31 | 2023-06-27 | 西安理工大学 | Three-closed-loop control direct-drive electric steering engine dynamics simulation analysis method |
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