CN107203184B - The dynamic control method of straight line steering engine Electric Loading System - Google Patents
The dynamic control method of straight line steering engine Electric Loading System Download PDFInfo
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- CN107203184B CN107203184B CN201710470666.7A CN201710470666A CN107203184B CN 107203184 B CN107203184 B CN 107203184B CN 201710470666 A CN201710470666 A CN 201710470666A CN 107203184 B CN107203184 B CN 107203184B
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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
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35356—Data handling
Abstract
The invention discloses a kind of dynamic control methods of straight line steering engine Electric Loading System, model first to servo loading motor, construct torque balance equation and construct straight line steering engine mechanism model；Ball screw assembly, motion model is established later；Then the transmission function of Electric Loading System is analyzed, and designs the Three-loop control method based on current inner loop, position outer ring and power outer ring, while in current inner loop application complex vector PI control 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 method of the invention is driven with permanent magnet 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 engine and Electric Loading System, and the active force for inhibiting straight line steering engine to be actively displaced, improve the loading accuracy of straight line loading system；And verification method is proposed, so that the evaluable property of straight line load simulator is stronger.
Description
Technical field
The invention belongs to control device technical field, especially a kind of kinetic controlling equation of straight line steering engine Electric Loading System
Method.
Background technique
In national defence, aerospace field and otherwise scientific research and industrial production, usually require that product
Test be can be carried out to guarantee the performance of designed product.And electric steering engine is the performer of aerospace field classics, to winged
The normal flight and maneuver autopilot of row device are of great significance, and are a kind of important flight control servoelements, and straight line steering engine is made
For a kind of new power fax actuator, it is with a wide range of applications, in addition to it can be used for flight control system, it may also be used for aircraft
Upper other need to carry out the occasion of actuation.In the straight line steering engine development process of early stage, often to the test of straight line steering engine performance
The all-real object field test for repeatedly carrying out that there is self destruction is needed, has to waste a large amount of financial resources, material resources, manpower in this way,
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 guarantee the research and development quality of straight line steering engine, and its efficiency is improved, needs 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 guarantee
The quality of line steering engine.The general loading system of electromechanical actuator is compared with traditional electro-hydraulic driving device, with small in size, structure is simple
It is single, the features such as cost is relatively low, and fast response time during the test, easily controllable, thus be very suitable to straight line steering engine into
Row load test, for its various forms of load needed for applying；And this loading system mainly includes loading bench and software portion
Point, loading bench is the part being connected directly with straight line steering engine to be measured, to straight line steering engine applied force and torque, therefore the structure of loading bench
Design is highly important, while the scope of application of loading bench and the convenience used restrict the experiment work of straight line steering engine；
It therefore, is raising to the loading accuracy of straight line steering engine, it is necessary to study the dynamic control method of straight line steering engine Electric Loading System.
But at present to the torsion type loading system of rotation, i.e., the research of load simulator both at home and abroad is concentrated mainly on rotation
The load test object of torque type load simulator is torsional mode electric steering engine, and output is torque；And straight line load simulator
Load test object be straight line steering engine or line valve, output be 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.Currently, straight line load mostly uses swing rod
Formula, mechanical or elastic rod mode, these straight line loading methods are not able to satisfy load simulator automation, intelligentized want
It asks, also meaning is little for control method.In the application of larger torque load, what is mainly studied is to be with hydraulic motor or pressurized strut
The electric-liquid type servo loading system of executing agency, it is extra that file 1 (CN106055753A) discloses a kind of electrohydraulic load simulator
The steering engine of power instructs Dynamic Compensation Control Method, and there is oil leak, maintenance are inconvenient, sensitive to greasy dirt and frequent for this loading method
Property the disadvantages of breaking down, in addition the non-linear factors such as big inertia and seal friction also largely affect load essence
Degree, and from control method, active movement and biggish coupling stiffness due to bearing system cause by force loading system
Position disturbance causes to load two chamber of hydraulic motor generation forced commutation, and the change of current generates forcing pressure, this is to cause electric-liquid type passive
The main reason for formula torque servo system Surplus Moment, Surplus Moment is often very big, seriously affects loading accuracy, and electro-hydraulic system
The shadow united there are the disturbing factors such as servo valve dead zone, pressure oscillation and system parameter vulnerable to environment temperature and temperature change
It rings, and becomes the non-linear and very strong system of time-varying factor.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 of electrohydraulic load simulator controller design and complexity to increase；
File 2 (CN106527150A) discloses a kind of non-linear composite control method of Pneumatic servo loading system, but
It is, since the features such as the Low rigidity of gas itself, underdamping and pneumatic system parameter uncertainty constrain pneumatic servo control
The further research of technology and application, control method meaning are little；
File 3 (CN102141484A) discloses a kind of multi-functional portable electric servo control loading device and its load
Method, loading mode are only static loading or CYCLIC LOADING under power control or Bit andits control, i.e., can only realize " active to add
Carry ", it is equivalent to static loading, without disturbing factors such as redundant forces, but can not achieve " the passive type load " for straight line steering engine；
However, the emphasis direction that the dynamic control method of passive type load simulator is always studied both at home and abroad, but to negative
The research for carrying simulator is applied to the load test of rotate steering wheel more, and focuses mostly on and load in torsion type of the torsion to torsion, and
Linear load simulator structure is complex, and is more difficult to press down because being tested the redundant force caused by straight line steering engine actively moves along a straight line
System；Active load, cost is relatively high, manufactures there is being confined to for the straight line load simulator driven using linear servo-actuator
The disadvantages of inconvenient is repaired, the tested straight line steering engine of active movement can not be loaded.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 engine Electric Loading System
Dynamic control method.
Summary of the invention
The purpose of the present invention is to provide a kind of dynamic control methods of straight line steering engine Electric Loading System.
The technical solution for realizing the aim of the invention is as follows: a kind of kinetic controlling equation of straight line steering engine Electric Loading System
Method, comprising the following steps:
Step 1 models servo loading motor, obtains voltage equation and the torque balance side of servo loading motor
Journey；
Step 2 regards the first bellows coupling, the second bellows coupling, torque rotary speed sensor and ball-screw
For system load, the system load and servo loading motor are rigidly connected, by servo loading motor output torque TLBe considered as by etc.
Inertia load, damping loads and elastic load three parts composition are imitated, and constructs output torque equilibrium equation；Construct tested straight line rudder
The mechanism model of machine obtains tested straight line steering engine 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 where square, obtain the straight line loading force being applied on tested straight line steering engine and servo loading motor output torque relationship,
The relationship of ball-screw angular displacement and tested straight line steering engine input displacement；
Step 4, on the basis of above-mentioned steps, construct 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 channel
Characteristic；
Step 6 constructs straight line according to the forward path characteristic and disturbance channel characteristic of straight line Rudder Loading System in step 5
The dynamic control structure of Rudder Loading System, the control structure include three closed loop complex controlls of electric current loop, position ring and power ring
Structure and angular speed feedforward compensation controller, and Stribeck friction model is introduced into straight line steering engine Electric Loading System；
Step 7 brings above-mentioned straight line Rudder Loading System parameters in the transmission function into step 4 into, makes straight
Line Rudder Loading System Bode diagram determines its stability by Bode diagram or liapunov's method, simultaneously to step if stablizing
Controller in rapid 6 carries out parameter tuning, executes step 8 later, if unstable rule return step 6；
Step 8, according to be tested straight line steering engine communications protocol, system be arranged communication baud rate, setting steering engine start, offset,
Feedback and zero-bit adjustment instruction, and corresponding RS422 serial ports driver is called to send and receive system command；
Step 9, host computer set loading mode, and loading mode has two kinds of step signal load and sinusoidal signal load, 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 completes loading tasks by servo loading motor driver driving servo loading motor；To complete
Dynamic control to straight line steering engine Electric Loading System.
A kind of verification method to above-mentioned straight line steering engine Electric Loading System dynamic control method, comprising the following steps:
Step A, torque rotary speed sensor, pull pressure sensor, grating scale acquire real time data and 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 received
Data complete the Drawing of Curve of command signal, feedback signal and error signal；
Step B, step signal is loaded, calculates its overshoot e (tp) and regulating time ts；Sinusoidal signal is loaded,
The amplitude error and phase error between feedback signal and setting signal are calculated, later by " double ten indexs " evaluation straight line steering engine electricity
Dynamic loading system dynamic control method shows that straight line steering engine Electric Loading System dynamic controls if reaching " double ten indexs "
Method is feasible, otherwise shows that current method is infeasible.
Compared with prior art, the present invention its remarkable advantage are as follows: 1) the electric current loop G in dynamic control method of the present inventioniq(s)
Complex vector PI control can make 3 actual current of servo loading motor rapidly and accurately track setting electric current, shorten dynamically track mistake
Journey, to effectively improve loading accuracy, and the motor that keeps the control performance of servo loading motor 3 excellent in tested straight line steering engine
Control performance；2) the power ring G in dynamic control method of the present inventionF(s) load is controlled using the value of feedback of pull pressure sensor
The power of system exports, position ring Gp(s) for accurately controlling the angular displacement of servo loading motor, angular speed feedforward compensation controller Gω
(s) it is used for 3 rotor machinery angular speed of tracking servo loading motor, carries out closed loop control using the Real-time Feedback of high-precision sensor
System, is effectively guaranteed the force tracing accuracy of straight line steering engine 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 engine and Electric Loading System, and the active force of straight line steering engine actively displacement is inhibited, it improves straight
The loading accuracy of line loading system；5) the invention proposes the verifyings of the dynamic control method to straight line steering engine Electric Loading System
Method, and the dynamic control performance of " double ten indexs " Lai Hengliang straight line steering engine Electric Loading System is introduced, so that straight line loads mould
It is stronger that property can be evaluated in quasi- device；6) present invention has wide applicability, and versatility is good, and plyability is strong, can be according to controlled mechanism
The loaded change conditions of reality, effectively be directed to various sizes of straight line steering engine 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,
It can be used for passive type load, Technical comparing is mature, and load control is more convenient, and manufacturing cost is relatively low, is a kind of cost performance ratio
Higher servo loading form.
Detailed description of the invention
Fig. 1 is tested 30 open loop object control block diagram of straight line steering engine.
Fig. 2 is straight line steering engine Electric Loading System overall control block diagram.
Fig. 3 is the device main view of straight line steering engine Electric Loading System.
Fig. 4 is the device top view of straight line steering engine Electric Loading System.
Fig. 5 is the motion conversion system Local map of straight line steering engine 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 engine Electric Loading System, wherein figure (a) is amplitude figure, and figure (b) is phase angle figure.
Fig. 8 be disturbing signal be 4mm/2Hz when system signal tracking result.
Fig. 9 be disturbing signal be 4mm/5Hz when system signal tracking result.
Figure 10 is the dynamic control method flow chart of straight line steering engine Electric Loading System of the invention.
Representative meaning is numbered in figure are as follows:
1- pedestal 2-T type groove plate 3- servo loading motor 4- servo loading motor support base 5-1- the first bellows shaft coupling
Device, 5-2- the second bellows coupling 6- torque rotary speed sensor 7- torque rotary speed sensor support 8- support platform 9- rolling
The connection of ballscrew pair support unit 10- ball-screw 11- rolling ball screw pair screw nut 12- sleeve 13- connecting plate 14- grating scale
Plate 15- grating ruler reading head 16- sliding block 17- guide rail 18- grating scale 19- connector 20- pull pressure sensor 21- drag chain
22- limit switch baffle 23- limit switch support 24- limit switch 25- connection saves 26- connecting shaft 27- and is tested axle sleeve
28- micro-displacement sensor 29- micro-displacement sensor support 30- is tested straight line steering engine 31- strap 32- lifting platform 33-
Encoder support 34- encoder 35- fastener
Specific embodiment
Straight line steering engine Electric Loading System used in the present invention, including console, power distribution cabinet and testing stand, Fig. 3 are straight lines
The device main view of steering engine Electric Loading System, Fig. 4 are the device top views of straight line steering engine Electric Loading System, and Fig. 5 is straight line
The motion conversion system Local map of steering engine Electric Loading System device, wherein console include PC machine, real-time controller, cabinet,
Data collecting card and control cabinet, console are used to carry out TT&C system testing stand load closed-loop control and realize human-computer interaction function
Can, power distribution cabinet provides power for testing stand and console, and wherein testing stand includes base frame, servo loading system, movement 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 support 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
16, guide rail 17, grating scale 18, connector 19, pull pressure sensor 20, drag chain 21, limit switch baffle 22, limit switch support
23, limit switch 24 and connection section 25, tested straight line steering gear system include connecting shaft 26, tested axle sleeve 27, micro-displacement sensor
28, micro-displacement sensor support 29, tested straight line steering engine 30, strap 31, lifting platform 32, encoder support 33, encoder
34；
In the base frame, T-slot plate 2 is arranged in the top of pedestal 1, and T-slot plate 2 has the T of length, width both direction
Slot channel, for adjusting mounting lifting platform to adapt to the tested straight line steering engine 30 of different size, T-slot plate 2 by fastener with
Pedestal 1 is connected and fixed, servo loading motor support base 4, torque rotary speed sensor support 7, support platform 8, lifting platform 32, encoder
Support 33 is connected and fixed by fastener with T-slot plate 2；Lifting platform 32 is installed on the T slot channel of width direction side, coding
Device support 33, servo loading motor support base 4, torque rotary speed sensor support 7, support platform 8 are located at the T slot channel of length direction
On, between encoder support 33 and torque rotary speed sensor support 7, servo loading motor support base 4 is located to be turned support platform 8
The other side of square speed probe support 7；
In the servo loading system, servo loading motor 3 is connected by fastener and the fastening of servo loading motor support base 4
It connects, is 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 passes through tight
Firmware is mounted on torque rotary speed sensor support 7；
In the motion conversion system, ball screw assembly, support unit 9, guide rail 17, grating scale are set in support platform 8
18, the fixing end of limit switch support 23 and drag chain 21；10 one end of ball-screw 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 connect with 12 front end of sleeve by fastener, and 12 upper surface of sleeve passes through fastener and company
Fishplate bar 13 is fixed, and 12 tail end of sleeve is connected and fixed to realize linear motion output by fastener and connector 19；
12 end of sleeve is limited in 8 middle part of support platform to realize that mechanical position limitation, limit switch support 23 are mounted on branch
Support 8 side of platform, limit switch baffle 22 is mounted on connecting plate 13, limit switch 24 be mounted on limit switch support 23 with
Realize electric limiting；
13 middle part of connecting plate is connected and fixed with sleeve 12 by fastener, and 13 both ends of connecting plate are connected and fixed with sliding block 16,
And the rotation of effect the limitation rolling ball screw pair screw nut 11 and sleeve 12 by linear guide, it is ensured that sleeve 12 exports straight line fortune
Dynamic, connecting plate 13 is connected and fixed with grating scale connecting plate 14 by fastener；
Grating scale 18 is mounted in 8 one groove of support platform, and grating ruler reading head 15 and grating scale connecting plate 14 pass through tightly
Firmware is connected and fixed, and the displacement signal of 18 acquisition system of grating scale feeds back to computer control system；
20 one end of pull pressure sensor is connected through a screw thread with connector 19, and the other end passes through screw thread company with section 25 is connect
It connects, 20 side of pull pressure sensor is equipped with signal wire, and loading force is fed back to computer control system by signal wire, and signal wire is set
In drag chain 21,21 mobile terminal of drag chain is fixed on connecting plate 13, and 21 fixing end of drag chain is mounted in support platform 8；
Connection 25 ends of thread of section are threadably connect with pull pressure sensor 20, and the other end is by connecting shaft 26 and is tested
Straight line steering engine 30 connects；
In the tested straight line steering gear system, it is tested axle sleeve 27 and is cooperatively connected with connecting shaft 26, micro-displacement sensor 28 is pacified
On micro-displacement sensor support 29, the displacement that micro-displacement sensor 28 measures tested axle sleeve 27 exports and feeds back to computer
Control system, tested straight line steering engine 30 are fixedly mounted on lifting platform 32 by strap 31, and 32 side of lifting platform is equipped with height
Vernier knob is spent, different type can be met and be tested the 30 pairs of neutral requirements of straight line steering engine, micro-displacement sensor support 29 passes through tight
Firmware is fixed on lifting platform 32；
Encoder support 33 is mounted on T-slot plate 2, and encoder 34 is mounted on encoder support 33, is tested straight line rudder
The 30 output shaft other side of machine is connected with encoder 34；
The servo loading motor 3, torque rotary speed sensor 6, ball-screw 10, connector 19, pull pressure sensor
20, connection section 25, tested straight line steering engine 30 and encoder 34 are coaxially connected；
Sleeve 12, connecting plate 13, grating scale connecting plate 14, limit switch baffle 22 and the limit switch support 23 is adopted
With 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 steering engine 30 is powered；The console includes host computer, real-time controller, data
Capture card, signal processing system, cabinet and terminal box, TT&C software is installed in host computer, and host computer passes through TCP/IP communication and assists
View is communicated with real-time controller and real-time monitoring system state, real-time controller and loading motor driver, tested linear motion
Mechanism drive is connected；Control instruction is simultaneously sent to real-time control by TCP/IP communication agreement by host computer setting loading mode
Device, real-time controller are sent to servo loading motor driver after handling instruction, driven by servo loading motor driver
Dynamic servo loading motor completes loading tasks, while torque rotary speed sensor 6, pull pressure sensor 20, grating scale 18 acquire reality
When data and feed back to real-time controller and carry out closed-loop control, real-time controller sends the data to host computer and shown and deposited
Storage.
A kind of dynamic control method based on above-mentioned straight line steering engine Electric Loading System, the steps include:
Step 1 models servo loading motor 3, obtains voltage equation and the torque balance side of servo loading motor 3
Journey；
Servo loading motor 3 is face paste formula non-salient pole permanent magnet synchronous motor, to guarantee that loading accuracy, servo loading motor 3 are adopted
Use vector control method；When using face paste formula permanent magnet synchronous motor, according to permanent magnet synchronous motor in d-q shafting drag, obtain
The voltage equation and torque balance equation of servo loading motor 3；Wherein, voltage equation are as follows:
In formula, uq、iqRespectively voltage and current of 3 stator of servo loading motor on q axis；LmFor equivalent inductance；RmFor
Stator winding resistance；KeFor back electromotive force constant；ωmFor 3 rotor machinery angular speed of servo loading motor；
The torque balance equation of servo loading motor 3 are as follows:
In formula, TmFor the 3 motor electromagnetic torque of servo loading motor；JmFor motor rotary inertia；BmFor joint damping coefficient；
TLFor 3 output torque of servo loading motor.
Step 2, straight line steering engine Electric Loading System need to be through shaft couplings, ball wire 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；It will
It is negative that first bellows coupling 5-1, the second bellows coupling 5-2, torque rotary speed sensor 6 and ball-screw 10 are considered as system
It carries, the system load and servo loading motor 3 are rigidly connected, by 3 output torque T of servo loading motorLIt is considered as by equivalent inertia
Load, damping loads and elastic load three parts composition, and construct output torque equilibrium equation；Construct tested straight line steering engine 30
Mechanism model obtains tested 30 output displacement of straight line steering engine and input voltage relation equation；
Wherein, output torque equilibrium equation are as follows:
In formula, JLTo load equivalent moment of inertia；BLTo load Equivalent damping coefficient；KLTo load Equivalent Elasticity rigidity system
Number；θLTo load corresponding 10 angular displacement of ball-screw；θmFor 3 angular displacement of servo loading motor；
Tested straight line steering engine 30 is using the indirect drive scheme of high reduction ratio, i.e. motor acceleration and deceleration device and ball screw assembly,
Driving form, used motor are direct current torque motor, and Fig. 1 is tested 30 open loop object control block diagram of straight line steering engine, are tested straight
30 input voltage of line steering engine and output displacement relation equation:
In formula, u is tested 30 input voltage of straight line steering engine；L1To be tested 30 output displacement of straight line steering engine；KdmFor motor
Electric torque coefficient；Kd0For motor coefficient of power amplifier；kjFor the reduction ratio for being tested straight line steering engine 30；P1For in tested straight line steering engine 30
Ball-screw lead；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 30 current of electric of straight line steering engine；TdTo be tested 30 motor output torque of straight line steering engine；ωdFor
Tested 30 motor angular velocity of straight line steering engine；θ1For ball-screw angular displacement in tested straight line steering engine 30.
Step 3 regard ball-screw 10 as power/moment conversion device, is not considering 10 friction torque of ball-screw and drive
In the case where dynamic torque, by the single contact point stress model of Fig. 6 ball-screw 10, obtain being applied on tested straight line steering engine 30
The relationship of straight line loading force and 3 output torque of servo loading motor, 10 angular displacement of ball-screw and tested straight line steering engine 30 input
The relationship of displacement；It is applied to the relationship of the straight line loading force and 3 output torque of servo loading motor on tested straight line steering engine 30 are as follows:
In formula, F is straight line loading force；R is 10 radius of ball-screw；λ is 10 lead angle of ball-screw；
The relationship of 10 angular displacement of ball-screw and tested 30 input displacement of straight line steering engine are as follows:
In formula, L1To be tested 30 input displacement of straight line steering engine；P is 10 lead of ball-screw.
Step 4, on the basis of above-mentioned steps, Fig. 2 is straight line steering engine Electric Loading System overall control block diagram, and building is straight
The transmission function of line Rudder Loading System:
F=G1uq-G2G3u
Wherein:
In formula, KtFor 3 electric torque coefficient of servo loading motor.
Step 5, using step 4 transfer function analysis straight line Rudder Loading System forward path characteristic and disturbance channel
Characteristic；U=0 is enabled, i.e., tested straight line steering engine 30 is in locking state, indicates straight line Rudder Loading System not by tested straight line steering engine
The forward path characteristic of 30 disturbances, indicates are as follows:
Enable uq=0, indicate the disturbance channel characteristic of straight line Rudder Loading System, and negative sign indicates direction and the quilt of perturbed force
The direction of displacement of straight line steering engine 30 is surveyed on the contrary, indicating are as follows:
In formula, G4For forward path characteristic coefficient；G5To disturb channel characteristic coefficient.
Step 6 constructs straight line according to the forward path characteristic and disturbance channel characteristic of straight line Rudder Loading System in step 5
The dynamic control structure of Rudder Loading System, the control structure include three closed loop complex controlls of electric current loop, position ring and power ring
Structure and angular speed feedforward compensation controller, and Stribeck friction model is introduced into straight line steering engine Electric Loading System；Electricity
Flow ring Giq(s) it is controlled using complex vector PI, for making 3 electric current of servo loading motor quickly and accurately trace command signal, electric current
The transmission function of ring complex vector PI control are as follows:
In formula:For d-q shafting electric current；For d-q shafting current setting value；KCP、KCIIt mutually should be the ratio of PI controller
Example and integral constant；PmFor motor number of pole-pairs；
Power ring G in the step 6F(s) power that loading system is controlled using the value of feedback of pull pressure sensor 20 is defeated
Out, position ring Gp(s) for accurately controlling 3 angular displacement of servo loading motor, angular speed feedforward compensation controller Gω(s) for
3 rotor machinery angular speed of track servo loading motor；
Power ring G in the step 6F(s), position ring Gp(s) and angular speed feedforward compensation controller Gω(s) it is all made of PID
Control, formula used are as follows:
In formula, u (t) is the controlled variable of system；E (t) is error amount；KP1、Ki1、Kd1Respectively proportionality coefficient, integral are normal
Several and derivative constant；
Stribeck friction model in the step 6 are as follows:
When | ωm| when < α, static friction are as follows:
In formula, F1(t)=Jmα(t)；
When | ωm| when > α, dynamic friction are as follows:
In formula: F1It (t) is driving force；FmFor maximum static friction force；FcFor coulomb friction；kVFor viscous friction torque ratio
Example coefficient；α (t) is 3 angular acceleration of servo loading motor；α and α1For very small positive number.
Step 7 brings above-mentioned straight line Rudder Loading System parameters in the transmission function into step 4 into, makes straight
Line Rudder Loading System Bode diagram determines its stability by Bode diagram or liapunov's method, simultaneously to step if stablizing
Controller in rapid 6 carries out parameter tuning, executes step 8 later, if unstable rule return step 6；To controller in step 7
It carries out pid parameter adjusting and uses continuous Ziegler-Nichols method, tuning formulae are as follows:
Kp=0.6Km,
KmStart yield value when oscillation for system；ωm1For frequency of oscillation；Kp、KiAnd KdIt mutually should be the ratio of PID controller
Example, integral and derivative constant.
Step 8, basis are tested 30 communications protocol of straight line steering engine, and communication baud rate is arranged in system, and setting steering engine starts, is inclined
Shifting, feedback and zero-bit adjustment instruction, and corresponding RS422 serial ports driver is called to send and receive system command；Wherein, own
Coding line is 16 system formats, and most-significant byte is rear, and least-significant byte is preceding；
Step 9, host computer set loading mode, and loading mode has two kinds of step signal load and sinusoidal signal load, 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 completes loading tasks by servo loading motor driver driving servo loading motor 3；To complete
Dynamic control to straight line steering engine Electric Loading System.
A kind of verification method to above-mentioned straight line steering engine Electric Loading System dynamic control method, comprising the following steps:
Step A, torque rotary speed sensor 6, pull pressure sensor 20, grating scale 18 acquire real time data and 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 transmitted and connect
The data of receipts complete the Drawing of Curve of command signal, feedback signal and error signal；
Step B, step signal is loaded, calculates its overshoot e (tp) and regulating time ts；Sinusoidal signal is loaded,
The amplitude error and phase error between feedback signal and setting signal are calculated, later by " double ten indexs " evaluation straight line steering engine electricity
Dynamic loading system dynamic control method shows that straight line steering engine Electric Loading System dynamic controls if reaching " double ten indexs "
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 versatility it is not high the problems such as, in order to solve existing Based on Electro-hydraulic Loading Servo System because load object active movement due to
To caused by loading system very strong position interference, biggish redundant force, maintenance inconvenient the problems such as, also for solving using straight
Active load, cost is relatively high, manufacture maintenance is inconvenient there is being confined to for the electrodynamic type servo loading of line servo motor
The disadvantages of, a kind of dynamic control method of straight line steering engine Electric Loading System of the invention, loading system can be effectively for straight
Line steering engine different model size applies suitable loading spectrum and carries out simulation loading to it, and mentioned dynamic control method can be effectively
It realizes straight line load simulator ground load test function, and the loading accuracy of straight line load simulator can be improved to 90% or more,
Effectively inhibit the redundant force of tested steering engine.
It is specifically described below with reference to embodiment:
Embodiment 1
For the verifying present invention, the selected each component of embodiment is as shown in table 1, and straight line steering engine Electric Loading System parameter is such as
Shown in table 2.
Each components selection of 1 testing stand of table
2 system parameter of table
| 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 inertia |
| Bm | 0.052 | Nm/Krpm | Motor damping constant |
| P | 25 | mm | Guide screw lead |
Secondly, whether analysis system is stable, the Bode diagram of system is made using MATLAB, Bode diagram is as shown in fig. 7, by primary
Moral figure decision-making system is stablized；Electric current loop G is setiq(s) controller parameter are as follows: KCP=4.1, KCI=450, KCω=1000；Setting
Position ring Gp(s) controller parameter are as follows: P1=1.32, I1=0.61, D1=0.02；Power ring G is setF(s) controller parameter are as follows: P2
=1.38, I2=0.89, D2=1.01.
It is programmed based on LabVIEW graphic programming and MATLAB, has write TT&C software, and it is real to carry out sinusoidal signal load
It tests, signal trace curve is as shown in Figure 8,9.The tested setting of straight line steering engine 30 amplitude is 4mm, frequency is 2Hz and the sinusoidal letter of 5Hz
Number be driving instruction signal, servo loading motor 3 be arranged amplitude be 3000N, frequency and the identical sinusoidal signal of disturbing signal are
Load command signal.For being tested straight line steering engine 30, control output is displacement, tests its output using Electric Loading System
Power, to examine whether its thrust meets the requirements.The debugging of Electric Loading System initial stage, experimental period are shorter.In Fig. 8,9, indicate
The curve of Force_Setpoint, Force_Feedback and Force_Error are respectively to set loading curve, load feedback song
Line and be error curve.It is obtained by Fig. 8, when tested 30 output frequency of straight line steering engine is 2Hz, measuring feedback profile positive peak is
3163.94N, negative peak value are -3241.32N, and phase is -7.87 °, and the ratio for defining value of feedback and setting value is loading accuracy, load
Precision is 91.96%；When tested 30 output frequency of straight line steering engine is 5Hz, measuring feedback profile positive peak is 3258.33N, instead
Peak value is -3267.54N, and phase is -9.33 °, loading accuracy 91.08%, and feedback profile and the phase difference of 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 engine
30, which can satisfy the real of 3000N, carries dynamic thrust.
Claims (10)
1. a kind of dynamic control method of straight line steering engine Electric Loading System, which comprises the following steps:
Step 1 models servo loading motor (3), obtains 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 and servo loading motor (3) are rigidly connected, by servo loading motor (3)
Output torque TLIt is considered as and is made of equivalent inertia load, damping loads and elastic load three parts, and constructs output torque balance
Equation；The mechanism model for constructing tested straight line steering engine (30), obtains tested straight line steering engine (30) output displacement and input voltage closes
It is equation；
Ball-screw (10) are used as power/moment conversion device by step 3, are not considering ball-screw (10) friction torque and drive
In the case where dynamic torque, obtains the straight line loading force being applied on tested straight line steering engine (30) and servo loading motor (3) export
Relationship, the relationship of ball-screw (10) angular displacement and tested straight line steering engine (30) input displacement of torque；
Step 4, on the basis of above-mentioned steps, construct 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 channel it is special
Property；
Step 6 constructs straight line steering engine according to the forward path characteristic and disturbance channel characteristic of straight line Rudder Loading System in step 5
The dynamic control structure of loading system, the control structure include three closed loop compound control structures of electric current loop, position ring and power ring
With angular speed feedforward compensation controller, and Stribeck friction model is introduced into straight line steering engine Electric Loading System；
Step 7 brings above-mentioned straight line Rudder Loading System parameters in the transmission function into step 4 into, makes straight line rudder
Machine loading system Bode diagram determines its stability by Bode diagram or liapunov's method, simultaneously in step 6 if stablizing
Controller carry out parameter tuning, step 8 is executed later, if unstable rule return step 6；
Step 8, according to be tested straight line steering engine (30) communications protocol, system be arranged communication baud rate, setting steering engine start, offset,
Feedback and zero-bit adjustment instruction, and corresponding RS422 serial ports driver is called to send and receive system command；
Step 9, host computer set loading mode, and loading mode has step signal load 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 completes loading tasks by servo loading motor driver driving servo loading motor (3)；To completion pair
The dynamic of straight line steering engine Electric Loading System controls.
2. the dynamic control method of straight line steering engine Electric Loading System according to claim 1, which is characterized in that step 1
The voltage equation of middle servo loading motor (3) are as follows:
In formula, uq、iqRespectively voltage and current of servo loading motor (3) stator on q axis；LmFor equivalent inductance；RmIt is fixed
Sub- winding resistance；KeFor back electromotive force constant；ωmFor servo loading motor (3) rotor machinery angular speed；
The torque balance equation of servo loading motor (3) are as follows:
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 engine Electric Loading System according to claim 1, which is characterized in that step 2
In output torque equilibrium equation are as follows:
In formula, JLTo load equivalent moment of inertia；BLTo load Equivalent damping coefficient；KLTo load Equivalent Elasticity stiffness coefficient；θL
To load corresponding ball-screw (10) angular displacement；θmFor servo loading motor (3) angular displacement；
For the tested straight line steering engine (30) using the indirect driving of high reduction ratio, used motor is direct current torque motor, is tested
Straight line steering engine (30) input voltage and output displacement relation equation:
In formula, u is tested straight line steering engine (30) input voltage；L1To be tested straight line steering engine (30) output displacement；KdmFor motor
Electric torque coefficient；Kd0For motor coefficient of power amplifier；kjFor the reduction ratio for being tested straight line steering engine (30)；P1To be tested straight line steering engine
(30) ball-screw lead 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 engine Electric Loading System according to claim 1, which is characterized in that step 3
In be applied to the relationship of straight line loading force and servo loading motor (3) output torque on tested straight line steering engine (30) are as follows:
In formula, F is straight line loading force；R is ball-screw (10) radius；λ is ball-screw (10) lead angle；
The relationship of ball-screw (10) angular displacement and tested straight line steering engine (30) input displacement are as follows:
In formula, L1To be tested straight line steering engine (30) input displacement；P is ball-screw (10) lead.
5. the dynamic control method of straight line steering engine Electric Loading System according to claim 1, which is characterized in that step 4
In straight line Rudder Loading System transmission function are as follows:
F=G1uq-G2G3u
Wherein:
In formula, KtFor servo loading motor (3) electric torque coefficient.
6. the dynamic control method of straight line steering engine Electric Loading System according to claim 1, which is characterized in that step 5
Using above-mentioned transfer function analysis straight line Rudder Loading System forward path characteristic and disturbance channel characteristic, specifically:
U=0 is enabled, i.e., tested straight line steering engine (30) are in locking state, indicate straight line Rudder Loading System not by tested straight line rudder
The forward path characteristic of machine (30) disturbance, indicates are as follows:
Enable uq=0, indicate the disturbance channel characteristic of straight line Rudder Loading System, and negative sign indicates the direction of perturbed force and is tested straight
The direction of displacement of line steering engine (30) is on the contrary, indicate are as follows:
In formula, G4For forward path characteristic coefficient；G5To disturb channel characteristic coefficient.
7. the dynamic control method of straight line steering engine Electric Loading System according to claim 1, which is characterized in that step 6
In electric current loop Giq(s) it is controlled using complex vector PI, for making servo loading motor (3) electric current, quickly and accurately trace command is believed
Number, the transmission function of electric current loop complex vector PI control are as follows:
In formula:For d-q shafting electric current；For d-q shafting current setting value；KCP、KCIIt mutually should be the ratio and product of PI controller
Divide constant；PmFor motor number of pole-pairs；
The power ring GF(s) the power output of loading system, position ring G are controlled using the value of feedback of pull pressure sensor (20)p
(s) for accurately controlling servo loading motor (3) angular displacement, angular speed feedforward compensation controller Gω(s) add for tracking servo
Carry motor (3) rotor machinery angular speed；
The power ring GF(s), position ring Gp(s) and angular speed feedforward compensation controller Gω(s) PID control, formula used are all made of
Are as follows:
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；
The Stribeck friction model are as follows:
When | ωm| when < α, static friction are as follows:
In formula, F1(t)=Jmα(t)；
When | ωm| when > α, dynamic friction are as follows:
In formula, F1It (t) 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 engine Electric Loading System according to claim 1, which is characterized in that step 7
In to controller carry out pid parameter adjusting use continuous Ziegler-Nichols method, tuning formulae are as follows:
KmStart yield value when oscillation for system；ωm1For frequency of oscillation；Kp、KiAnd KdIt mutually should be ratio, the product of PID controller
Point and derivative constant.
9. the verification method of straight line steering engine Electric Loading System dynamic control method, feature described in a kind of pair of claim 1 exist
In, comprising the following steps:
Step A, torque rotary speed sensor (6), pull pressure sensor (20), grating scale (18) acquire real time data and 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 transmitted and
Received data complete the Drawing of Curve of command signal, feedback signal and error signal；
Step B, step signal is loaded, calculates its overshoot e (tp) and regulating time ts；Sinusoidal signal is loaded, is calculated
Amplitude error and phase error between feedback signal and setting signal are added by " double ten indexs " evaluation straight line steering engine is electronic later
Loading system dynamic control method shows straight line steering engine Electric Loading System dynamic control method if reaching " double ten indexs "
It is feasible, otherwise show that current method is infeasible.
10. the verification method of straight line steering engine Electric Loading System dynamic control method according to claim 9, feature exist
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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