DDV作动器余度数字伺服系统工程设计与实现

 介绍一种直接驱动阀（DDV）式作动器的余度数字式伺服系统设计与实现,描述了系统的余度配置、设计思想及组成,建立了DDV作动器的结构参数化模型及数字伺服回路的模型,并进行了仿真,分析了作动器动静态特性、采样频率及监控器的设计性能。最后,采用快速原型实时仿真,对余度数字式伺服系统完成了的性能试验验证,结果表明系统性能令人满意。     

扑翼飞行器驱动装置的设计

扑翼飞行器是一种新型飞行器,其工作原理及设计技术与传统的固定翼和旋转翼飞行器完全不同。微型扑翼的驱动机构的设计、制作是飞行器设计中的关键环节。为此介绍了一种静电驱动的微扑翼机构,由于这种结构存在着强烈的静电和机械两个物理场的非线性耦合,因此系统的动态特性是非常复杂的。从驱动机构的结构,工作原理,受力模型及分析几个方面对这种驱动机构作了相关的介绍。所得研究结论可以为微型扑翼驱动机构的设计、制作和应用提供一定的理论依据。     

Matching design of hydraulic load simulator with aerocraft actuator

 This paper intends to provide theoretical basis for matching design of hydraulic load simulator (HLS) with aerocraft actuator in hardware-in-loop test, which is expected to help actuator designers overcome the obstacles in putting forward appropriate requirements of HLS. Traditional research overemphasizes the optimization of parameters and methods for HLS controllers. It lacks deliberation because experimental results and project experiences indicate different ultimate performance of a specific HLS. When the actuator paired with this HLS is replaced, the dynamic response and tracing precision of this HLS also change, and sometimes the whole system goes so far as to lose control. Based on the influence analysis of the preceding phenomena, a theory about matching design of aerocraft actuator with HLS is presented, together with two paired new concepts of "Standard Actuator" and "Standard HLS". Further research leads to seven important conclusions of matching design, which suggest that appropriate stiffness and output torque of HLS should be carefully designed and chosen for an actuator. Simulation results strongly support that the proposed principle of matching design can be anticipated to be one of the design criteria for HLS, and successfully used to explain experimental phenomena and project experiences.     

基于Riccati方程的航空发动机鲁棒容错控制

采用状态反馈控制律,基于Riccati型方程,导出了对象模型存在参数摄动的航空发动机控制系统对传感器失效具有完整性的一个充分条件,并给出了使该充分条件得到满足的一种迭代计算方法。以某型双转子航空发动机为例进行了仿真设计,仿真计算结果表明上述方法有效、实用。对于执行器发生故障的情形,也给出了类似的结论。      

蒸汽轮机叶片失速颤振的预测

本文移植了轴流压气机叶片失速颤振预测方法中一种半经验方法——变形激盘法,从自激振动的角度分析了蒸汽轮机末级工作叶片在某些工况下动应力突增的故障。本文中计算与实测值间的定性一致表明:末级工作叶片在低负荷状态的动应力突增是由于大负攻角失速颤振所引起的。本文对设计工况附近的动应力增加提出了一种解释,在设计工况叶片可能存在一种目前尚未分类过的“高负荷非失速颤振”。      

Analysis of the dynamic performance of an electro-hydrostatic actuator and improvement methods

As a kind of actuation mechanism for power-by-wire (PBW) actuation systems of more/all electrical aircraft, an electro-hydrostatic actuator (EHA) is a highly integrated local hydraulic actuation system. It is a volume control system consisting of a motor, a pump, an actuator, etc., which has features of high efficiency and reliability. However, the poor dynamic characteristic is one of the main factors restricting its wide application in aircraft. In this paper, the reason for the poor dynamic characteristic of an EHA is revealed from the perspectives of the natural frequency characteristic and the power requirement, respectively. In other words, the insufficiency of the motor output power at a high frequency is the main factor causing the poor dynamic characteristic of the system, and methods which include increasing the maximum output torque of the motor, reducing the rotational inertia of the motor-pump group, and adopting a double-motor-pump group configuration are proposed in this paper, by which the dynamic characteristic of the system can be improved. The feasibility of those methods are verified by simulations. Finally, the dynamic characteristic is tested on an EHA prototype, and results show that saturation of the output torque of the motor is the main factor restricting the dynamic characteristic of the EHA system.     

航空发动机燃油系统执行机构及其传感器故障诊断

提出了基于执行机构模型和航空发动机逆模型的执行机构及其传感器单一故障诊断和定位方法.基于执行机构小闭环结构建立了3阶执行机构传递函数模型.基于两个并联的BP(back propagation)神经网络,建立了航空发动机稳态逆模块和动态补偿模块,形成航空发动机逆模型,以实现基于航空发动机输出的燃油流量估计.以执行机构模型输出和传感器输出之间的偏差为依据进行故障判别,以航空发动机逆模型输出和传感器输出偏差为依据对故障进行定位.以某型航空发动机及其燃油系统执行机构模型为对象进行的仿真,结果表明,该诊断系统可在航空发动机稳态、动态情况下准确地诊断出幅值在1.6%以上的执行机构及其传感器故障并进行定位,验证了所提出故障诊断方法的有效性.      

Fault tolerant control system design with explicit consideration of performance degradation

A new approach is proposed for active fault tolerant control systems (FTCS), which allows one to explicitly incorporate allowable system performance degradation in the event of partial actuator fault in the design process. The method is based on model-following and command input management techniques. The degradation in dynamic performance is accounted for through a degraded reference model. A novel method for,selecting such a model is also presented. The degradation in steady-state performance is dealt with using a command input adjustment technique. When a fault is detected by the fault detection and diagnosis (FDD) scheme, the reconfigurable controller is designed automatically using an eigenstructure assignment algorithm in an explicit model-following framework so that the dynamics of the closed-loop system follow that of the degraded reference model. In the mean time, the command input is also adjusted automatically to prevent the actuators from saturation. The proposed method has been evaluated using the lateral dynamics of an F-8 aircraft against actuator faults subject to constraints on the magnitude of actuator inputs. Very encouraging results have been obtained.     

基于GSPN的机载液压作动系统可靠性模型

机载液压系统具有余度降级、故障检测、隔离等动态时序过程,传统基于两元可靠性模型很难描述其动态行为和性能降级过程.针对这一问题,采用分层聚类和广义随机Petri网相结合建立了机载液压系统可靠性模型.利用该模型,详细分析了故障检测装置的故障检测率对系统可靠性的影响.分析结果表明,由于故障检测装置故障检测率的影响,机载液压作...     

弹簧杆校正原理及其在力矩控制系统中的应用

 为了掌握自动飞行器的工作特性,在它飞上空中之前,工程技术人员要在地面进行各种仿真试验。研制力矩控制系统的目的在于模拟随高度、速度变化且连续作用在飞行器翼面上的气动铰链力矩。这种装置广泛应用于各种型号舵机。 我们研制的力矩控制系统力案如图1所示。     

基于AMESim的直升机液压助力器建模与仿真

介绍了直升机飞行操纵系统典型液压助力器的组成和工作原理,对助力器静动态性能分析方法进行了研究。综合考虑不可忽视液压刚度、结构刚度、摩擦、泄漏等非线性因素对系统的影响,建立了基于AMESim的助力器模型。利用该模型对直升机飞行操纵系统样例液压助力器进行仿真分析,将仿真结果和试验结果进行验证对比,结果表明仿真数据和试验数据基本吻合,较好地反映了实际系统的性能。因此仿真结果可以为直升机飞行操纵系统液压助力器打样设计和结构优化提供理论分析依据。     

一种新颖的直升机舵回路故障诊断方法

研究了基于案例推理的直升机舵回路在线故障诊断方法。针对传统的CBR方法一般采用离散数据和符号向量来建立案例的不足,提出了动态系统多源异类信息的案例表达方法,利用系统特性集、征兆集和特征集混合模型作为案例的条件属性。在此基础上,研究了案例检索的综合相似性度量方法。最后,将上述方法在某型直升机的俯仰舵回路进行了试验验证,结果表明,该方法可以诊断出舵回路的控制参数漂移故障,为复杂动态系统的故障诊断提供了一种有效的新途径。     

Dynamic thermal coupling modeling and analysis of wet electro-hydrostatic actuator

The electro-hydrostatic actuator(EHA) used in more electric aircraft(MEA) has been extensively studied due to its advantages of high reliability and high integration. However, this high integration results in a small heat dissipation area, leading to high-temperature problems. Generally,to reduce the temperature, a wet cooling method of using the pump leakage oil to cool the motor is adopted, which can also increase the difficulty of accurately predicting the system temperature in the early desi...     

翼型尾缘低频大功率合成射流的动态载荷特性研究——A：实验方案设计

为了获得翼型在尾缘合成射流作用下的气动特性,针对NACA0015翼型,设计了适用于风洞研究的尾缘合成射流实验,设计内容包括实验模型的设计,低频大功率合成射流致动器的设计,以及测量方案的设计。该实验方案在伺服电机达到适当转速时,合成射流器能够达到较好的吹／吸气效果。通过调节地面气缸的行程和电机的工作频率,可以实现对喷口速度、频率等参数的调节,为研究合成射流动量系数和减缩频率对气动力和力矩的影响规律提供了便利。针对二元实验段,采用自行设计的二分量应变天平测量动态升力和力矩。该实验模型在二元风洞中顺利开展了相关实验研究。研究结果显示,当合成射流频率为3Hz时,升力系数的幅值约为0．16。因此,尾缘低频大功率合成射流可以使翼型获得较大的用于控制气动弹性的控制力。这种新型作动方式为未来飞行器气动弹性稳定性控制提供了一种新途径。     

不确定模糊动态系统的二次稳定性研究

研究了连续不确定模糊模型的二次稳定性,这种不确定的模糊模型被用来表示一类不确定的连续的复杂的非线性系统,该系统既包括语言信息又包括系统的不确定性。本文还证明了:如果一个合适的Riccati方程或者一个Riccati方程的集合有解的话,那么该不确定模糊动态系统是二次稳定的。     

滚珠旋摆作动器的优化设计

提出了一种新型液压执行机构--滚珠螺旋液压旋摆作动器,建立了一套伺服动态优化设计理论及分析方法。在结构上,采用了多头大升角的滚珠螺旋副、滚珠花键副、滚珠卸荷副、活塞式液压缸等结构,以保证作动器受力特性好、传动平稳、效率高、且输出扭矩大,适应于低、中、高压任何压力的液压系统;在理论上,导出了滚珠螺旋液压旋摆作动器优化参数的设计计算公式,分析了优化参数与系统效率、频宽之间的关系。按照该理论设计的滚珠螺旋液压旋摆作动器,系统耗能最小、效率最高、频带最宽。     

电液复合调节作动器的建模与AMESim仿真

针对传统功率电传一体化作动器存在的诸如动态响应差、固有频率低等问题,提出一种增加了一个总压力控制阀的改进型电液复合调节一体化作动器.通过保持作动筒高、低压腔的压力之和为一常数,使泵控系统的固有频率和阀控系统相同,有效地改善了动态响应.在综合考虑这种改进的电液一体化作动器中不可忽视的结构刚度、摩擦、泄漏等非线性因素对系统的影响后,在已有简化模型基础上建立了非线性仿真模型.用AMESim软件进行仿真验证和分析,结果表明该模型较好地反映了实际系统的性能,为功率电传一体化舵机的进一步结构优化和控制提供了理论依据.     

微扑翼飞行器驱动机构的设计与动态特性研究

微扑翼飞行器是一种新概念的飞行器,在应用技术上它超出了传统的飞机设计和气动力的研究范畴,同时开创了微机电系统技术(MEMS)在航空领域的应用。微扑翼驱动机构的设计、制作及其动态特性研究是飞行器设计中的关键环节。本文的研究对象是一个静电驱动的胸腔式微扑翼机构,由于这种结构存在着强烈的静电和机械两个物理场的非线性耦合,因此系统的动态特性是非常复杂的。本文从理论上分析了系统奇点的存在与稳定性;在相空间中分析了无阻尼及有阻尼系统的非线性动态特性;研究了初始条件和阻尼对临界拉入电压的影响;最后分析了在不同激励电压信号下系统的响应。所得研究结论对微扑翼驱动机构的设计、制作和应用提供了一定的理论依据。      

Accuracy enhancement of the spherical actuator with a two-level geometric calibration method

This paper presents a two-level geometric calibration method for the permanent magnet （PM） spherical actuator to improve its motion control accuracy. The proposed actuator is com- posed of a stator with circumferential coils and a rotor with multiple PM poles. Due to the assembly and fabrication errors, the real geometric parameters of the actuator will deviate from their design values. Hence, the identification of such errors is critical for the motion control tasks. A two-level geometric calibration approach is proposed to identify such errors. In the first level, the calibration model is formulated based on the differential form of the kinematic equation, which is to identify the geometric errors in the spherical joint. In the second level, the calibration model is formulated based on the differential form of torque formula, which is to calibrate the geometric parameters of the magnetization axes of PM poles and coils axes. To demonstrate the robustness and availability of the calibration algorithm, simulations are conducted. The results have shown that the proposed two-level calibration method can effectively compensate the geometric parameter errors and improve the positioning accuracy of the spherical actuator.     

具有Lipschitz非线性系统的航天器故障检测

对存在未知干扰的Lipschitz非线性系统,探讨了基于滑模观测器的执行器故障检测的方法。通过等价状态变换,可以得到2个子系统,其中一个子系统与执行器故障和未知干扰耦合,而另一个子系统则只与执行器故障耦合。在此基础上,提出了一种免受未知干扰影响,可对执行器故障敏感的滑模观测器设计方法。这种滑模观测器可以作为故障检测工具,而将其输出估计误差作为残差发生器,用于执行器故障检测。相比滑模观测器的故障重构方法,该方法大大放宽了对数学假设条件的要求。最后,对一个大攻角状态下的航天器的简化模型进行了数字仿真,仿真结果表明了所提方法的有效性。