CN1452065A - Speed synchronously controlled electrohydraulic load simulator - Google Patents
Speed synchronously controlled electrohydraulic load simulator Download PDFInfo
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Abstract
本发明属于仿真技术领域，涉及对飞行器舵面电液伺服加载系统的改进。本发明包括一个位置伺服系统，一个力矩伺服系统，模拟惯量J1位于位置伺服系统和力矩伺服系统之间，其特征在于，位置伺服系统中的舵机驱动器6的输出端与力矩伺服系统中补偿器5的输入端连接。本发明对多余力的消除作用明显，消扰能力最大可达95％以上。
The invention belongs to the technical field of simulation and relates to the improvement of an electro-hydraulic servo loading system for an aircraft rudder surface. The present invention comprises a position servo system, a torque servo system, the analog inertia J1 is positioned between the position servo system and the torque servo system, it is characterized in that, the output terminal of the steering gear driver 6 in the position servo system is compensated in the torque servo system connected to the input of device 5. The invention has an obvious elimination effect on redundant force, and the maximum disturbance elimination ability can reach more than 95%.
Description
Technical field.The invention belongs to simulation technical field, relate to improvement vehicle rudder electro-hydraulic servo charger.
Background of invention.Electricity fluid moment load simulator is based on the Hydraulic Servo Control principle, utilizes the moment feedback to realize the closed-loop control of moment, and the steering wheel motion artifacts is the key factor that influences the moment control accuracy, promptly so-called redundant force.By the extension system frequency range with carry out the performance that redundant force compensation can improve system, improve the tracking accuracy of loading spectrum.The structural principle of existing electro-hydraulic servo loading system as shown in Figure 1, the left side is a positional servosystem, control steering wheel deflection.The right side is a torque servo system, produces loading moment.The centre is a load simulation, and a simulated inertia J is arranged
lSteering wheel rotating shaft, simulated inertia J
lRotating shaft and load mutual coaxial connection of motor shaft, realize the moment of steering wheel is loaded.Steering gear control system is to drive 10 motions of steering wheel servo-valve 7 control steering engine actuators by steering wheel driver 6, and steering wheel angular displacement sensor 8 feeds back to steering wheel driver 6 with the position signalling of steering wheel, thereby realizes the position control of steering wheel.In practical flight, its output shaft will directly drive the vehicle rudder motion.Torque command drives by loading control 4 and loads servo-valve 1, and control loaded motor 11, then through torque sensor 3, and angular displacement sensor 2 and simulated inertia J
l, link to each other with the output shaft of steering wheel by output shaft.Loading motor 11 in the course of the work will together move with steering wheel, also will require to the steering wheel imposed load according to torque command simultaneously, and this will produce a kind of perturbed force inevitably, promptly so-called redundant force.The method of traditional elimination steering wheel motion artifacts is the structure principle of invariance, and compensation tache as shown in Figure 1 passes through the inverting input that compensator 5 is input to loading control 4 by angular displacement sensor 2 output signals exactly, and redundant force is implemented compensation.This technology is widely-used in real system, but obviously existing disappears disturbs effect and is difficult to improved problem again, particularly be subjected to the influence of motion forcing frequency, disappear and disturb effect bigger difference is arranged, best in the market disappears the ability of disturbing about 80%, and too big with the forcing frequency correlativity, redundant force was eliminated effect and will be become very poor when particularly frequency was higher.Referring to Liu Changnian work " Hydrauservo System optimal design theory ", metallurgical industry publishing house (1989).
Summary of the invention.
The objective of the invention is: a kind of vehicle rudder electro-hydraulic servo charger of more effectively eliminating the steering wheel motion artifacts is provided, the ability of disturbing that disappears can be brought up to more than 95%.
Technical scheme of the present invention is: a kind of speed synchronously controlled electrohydraulic load simulator, comprise a positional servosystem of forming by steering wheel driver 6, steering wheel servo-valve 7, steering wheel angular displacement sensor 8 and steering engine actuator 10, the in-phase input end of steering wheel command signal input steering wheel driver 6, the inverting input of the output signal input steering wheel driver 6 of steering wheel angular displacement sensor 8; Also comprise a torque servo system of forming by loading control 4, loading servo-valve 1, load driver device 4, loading motor 11, torque sensor 3, angular displacement sensor 2 and compensator 5, loading control 4 is made of the two-stage amplifier series connection, the in-phase input end of torque command input first order amplifier, the output signal input first order amplifier's inverting input of torque sensor 3, the in-phase input end of the output signal input second level amplifier of first order amplifier, the output signal input second level amplifier's inverting input of compensator 5; Simulated inertia J
lCoaxial connection of rotating shaft with positional servosystem and torque servo system is positioned between the two, it is characterized in that, the output terminal of steering wheel driver 6 is connected with the input end of compensator 5.
Advantage of the present invention is: the elimination effect to redundant force is obvious, the experiment proved that the best ability of disturbing that disappears can reach more than 95%, is better than present other technologies scheme greatly.And method is simple, need not increase any equipment and just can realize, is convenient to promote the use of.
Embodiment.
Description of drawings.
Fig. 1 is the electric liquid loading structure synoptic diagram of existing employing structure principle of invariance.
Fig. 2 is an electric liquid loading structure synoptic diagram of the present invention.
Fig. 3 disturbs the method synoptic diagram based on disappearing of speed synchronization control principle
Fig. 4 is a design sketch of eliminating unnecessary moment with the speed synchronization control compensation scheme of the present invention that Computer Simulation goes out.
Fig. 5 speed synchronization scheme is eliminated unnecessary moment empirical curve, wherein: (a) be the contrast and experiment of steering wheel frequency unnecessary moment when being 1Hz; (b) be the contrast and experiment of steering wheel frequency unnecessary moment when being 5Hz; (c) be the contrast and experiment of steering wheel frequency unnecessary moment when being 10Hz; (d) be the contrast and experiment of steering wheel frequency unnecessary moment when being 15Hz.
Fig. 6 is that the unnecessary moment under the big torque-motor situation is eliminated the effect empirical curve, (a) is the size of original unnecessary moment; (b) be that the unnecessary moment that disappears after disturbing is eliminated situation.
Below in conjunction with accompanying drawing the present invention is described in further details.The present invention is based on such thought, in essence, if the transient motion speed of the transient motion speed of steering wheel and charger can be consistent in real time, does not just have the interference problem of redundant force.Core of the present invention is to adopt the speed synchronization command signal of the control signal of steering wheel as loader, participate in Fig. 2, speed synchronously controlled electrohydraulic load simulator of the present invention, comprise a positional servosystem of forming by steering wheel driver 6, steering wheel servo-valve 7, steering wheel angular displacement sensor 8 and steering engine actuator 10, the in-phase input end of steering wheel command signal input steering wheel driver 6, the inverting input of the output signal input steering wheel driver 6 of steering wheel angular displacement sensor 8; Also comprise a torque servo system of forming by loading control 4, loading servo-valve 1, load driver device 4, loading motor 11, torque sensor 3, angular displacement sensor 2 and compensator 5, loading control 4 is made of the two-stage amplifier series connection, the in-phase input end of torque command input first order amplifier, the output signal input input first order amplifier's inverting input of torque sensor 3, the in-phase input end of the output signal input second level amplifier of first order amplifier, the output signal input second level amplifier's inverting input of compensator 5; Simulated inertia J
lCoaxial connection of rotating shaft with positional servosystem and torque servo system is positioned between the two, it is characterized in that, the output terminal of steering wheel driver 6 is connected with the input end of compensator 5.Like this, be equivalent to control steering wheel simultaneously and load motor, thereby guarantee that redundant force reaches very low level with identical speed control signal.
Isolate better in order to make between steering wheel driver 6 and the compensator 5, isolator 9 of series connection between them, it is the amplifier of a high input impedance, can make between driver 6 and the compensator 5 effectively to isolate, to prevent interference.At this moment, the output terminal of steering wheel driver 6 is through connecting the input end of compensator 5 after the isolator 9.
Fig. 3 is the control mechanism signal of load simulator of the present invention.The generation of unnecessary moment and steering wheel motion angular velocity are directly related, just can eliminate unnecessary moment if can accomplish both speed synchronization.In fact, have only, could produce required moment when loading the motor output shaft angular displacement when having differential seat angle with the equivalent angular displacement of steering wheel output shaft.The target of position synchronous control is to reduce this differential seat angle, this and Torque Control contradict, have very strong coupled relation between position closed loop and the moment closed loop, only the frequency span of torque servo system is much larger than positional servosystem, so the position synchronous compensation is resultful.But if reach higher precision, must accomplish as much as possible that the angular velocity of two output shafts is synchronous, yet because problems such as the precision of speed pickup and installation make that direct speed control closed loop is difficult to realize.Since it is so, have other approach so or not? answer is sure.Since the signal behind the circuit differential and the signal of angular-rate sensor do not satisfy requirement, can find other the useful signal that exists in the steering gear system so? on physical concept, use angular velocity signal to feedover, it is nothing but the movable information of wishing to obtain in advance steering wheel, so that in time catch up with the motion of steering wheel, apply power (square) simultaneously, such signal can obtain from the control loop of steering wheel fully.Topworks's internal leakage of steering wheel is very little, on low-frequency range, can be approximated to be an integral element, it is output as the displacement of steering wheel, at this moment input (control signal of steering wheel servo-valve) is approximately rate signal in fact, this signal noise is little, lag behind seldom, can be used for eliminating unnecessary moment fully.The advantage of this scheme do not need to be increase equipment, only needs corresponding software of change and input signal just passable, greatly reduces the improvement cost of system, has given full play to the dirigibility of computing machine.
From another angle, the topworks of hydraulic sterring engine is similar on mathematical model with the topworks of Hydrauliload Simulator, as long as therefore make the servo-valve opening of load simulator and steering wheel servo-valve opening keep just can making two system angle speed near-synchronous synchronously.In view of the difference of two system valve openings, just need to add correction link and compensate to the transport function of output.The complex model of load simulator topworks points out that unnecessary moment is not only relevant with the equivalent angular velocity of steering wheel output shaft, and also relevant with its angular acceleration, especially this influence is more outstanding when frequency is higher.So the general type that compensation tache adopts is:
Wherein: T
1Be the time constant of filtering link, the frequency range of wave filter is typically chosen in more than 5 times of steering gear system frequency range; K
ComGain for compensation tache; T
ComBe the derivative time constant in the compensation tache.When the load simulator input instruction signal is 0, when steering wheel disturbed to θ (t)=0.061sin (20 π t), system adopted simulation curve that this scheme eliminates unnecessary moment as shown in Figure 4, among the figure, and the amplitude of redundant force when dashed curve is represented not compensate; Block curve is the redundant force amplitude behind employing the present invention, and as seen, redundant force is eliminated substantially.
Fig. 5 a to Fig. 5 d is the empirical curve that certain load simulator embodiment of the present invention unnecessary moment under different frequency is eliminated situation, and the maximum angular rate of steering wheel is 220 °/s.The curve of top is the unnecessary moment when not taking indemnifying measure among each figure, and following curve is the unnecessary moment behind use the present invention; Fig. 6 is that the unnecessary moment under the big torque-motor situation is eliminated the effect empirical curve, (a) is the size of original unnecessary moment; (b) be that the unnecessary moment that disappears after disturbing is eliminated situation.As can be seen, adopt after the present invention, reduced unnecessary moment greatly, particularly at high band.The unnecessary moment of general residue is less than 5% to 10% before compensating.Emulation and experimental result have proved validity of the present invention.
Claims (2)
1, a kind of speed synchronously controlled electrohydraulic load simulator, comprise a positional servosystem of forming by steering wheel driver [6], steering wheel servo-valve [7], steering wheel angular displacement sensor [8] and steering engine actuator [10], the in-phase input end of steering wheel command signal input steering wheel driver [6], the inverting input of the output signal input steering wheel driver [6] of steering wheel angular displacement sensor [8]; Also comprise one by loading control [4], load servo-valve [1], load driver device [4], load motor [11], torque sensor [3], the torque servo system that angular displacement sensor [2] and compensator [5] are formed, loading control [4] is made of the two-stage amplifier series connection, the in-phase input end of torque command input first order amplifier, the output signal input first order amplifier's inverting input of torque sensor [3], the in-phase input end of the output signal input second level amplifier of first order amplifier, the output signal input second level amplifier's inverting input of compensator [5]; Simulated inertia J
lCoaxial connection of rotating shaft with positional servosystem and torque servo system is positioned between the two, it is characterized in that, the output terminal of steering wheel driver [6] is connected with the input end of compensator [5].
2, load simulator according to claim 1 is characterized in that, the output terminal of steering wheel driver [6] connects the input end of compensator [5] afterwards through isolator [9].
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| CN103413489A (en) * | 2013-08-08 | 2013-11-27 | 北京航空航天大学 | Torque servo control loading load simulator |
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