Robust Control for Static Loading of Electro-hydraulic Load Simulator with Friction Compensation

Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness test of aircraft actuation systems. The tracking performance of the static loading is studied in this paper. Firstly, the nonlinear mathematical models of the hydraulic load simulator are derived, and the feedback linearization method is employed to construct a feed-forward controller to improve the force tracking performance. Considering the effect of the friction, a LuGre model based friction compensation is synthesized, in which the unmeasurable state is estimated by a dual state observer via a controlled learning mechanism to guarantee that the estimation is bounded. The modeling errors are attenuated by a well-designed robust controller with a control accuracy measured by a design parameter. Employing the dual state observer is to capture the different effects of the unmeasured state and hence can improve the friction compensation accuracy. The tracking performance is summarized by a derived theorem. Experimental results are also obtained to verify the high performance nature of the proposed control strategy.     

Adaptive Fuzzy Torque Control of Passive Torque Servo Systems Based on Small Gain Theorem and Input-to-state Stability

Passive torque servo system (PTSS) simulates aerodynamic load and exerts the load on actuation system, but PTSS endures position coupling disturbance from active motion of actuation system, and this inherent disturbance is called extra torque. The most important issue for PTSS controller design is how to eliminate the influence of extra torque. Using backstepping technique, adaptive fuzzy torque control (AFTC) algorithm is proposed for PTSS in this paper, which reflects the essential characteristics of PTSS and guarantees transient tracking performance as well as final tracking accuracy. Takagi-Sugeno (T-S) fuzzy logic system is utilized to compensate parametric uncertainties and unstructured uncertainties. The output velocity of actuator identified model is introduced into AFTC aiming to eliminate extra torque. The closed-loop stability is studied using small gain theorem and the control system is proved to be semiglobally uniformly ultimately bounded. The proposed AFTC algorithm is applied to an electric load simulator (ELS), and the comparative experimental results indicate that AFTC controller is effective for PTSS.     

直接瞬时转矩控制策略在开关磁阻电机上的应用

从直接瞬时转矩控制原理出发,分析了开关磁阻电机响应速度和转矩脉动的抑制原理,提出了一种基于DITC的改进的滞环策略。从仿真结果可知,该控制策略提高了系统响应速度,更增强了转矩脉动的抑制能力。     

天线重量变化对伺服性能影响及解决方案

针对某型测控雷达改造后天线重量增加引起的伺服性能降低问题,详细分析天线重量增加对伺服系统环路带宽和负载转矩的影响,提出调整伺服系统内部各环路参数的解决方案,使得系统与负载之间在转速、转矩和惯量上能够相匹配,并对系统进行了阶跃响应测试,得到了较好的效果。     

干摩擦对称黏滑响应的级数解及黏滑边界特性

针对航空发动机中的摩擦振动问题,给出了对称黏滑运动摩擦力的分段表达式.利用谐波平衡方法推导了具有偶数次黏着的黏滑运动的级数形式解析解,并基于该解析解给出了参数平面内的黏滑边界线方程.黏滑运动响应仅包含奇次谐波成分,在奇次分数倍频处存在超谐次共振.当频率比小于0.4时,黏滑边界线呈现凸凹交替特征,局部极小值位于各阶超谐次共振频率处.黏性阻尼增大能够缩小无黏着运动的参数范围,但在各阶超谐共振频率附近,黏性阻尼增大会扩大无黏着运动的参数区域.      

直升机/发动机系统综合控制半物理仿真

基于直升机/发动机系统综合控制半物理仿真试验平台,针对直升机/发动机系统综合模型和综合控制算法进行数字与半物理仿真试验研究.提出了一种串级PID(proportional integration differential)+扭矩前馈+总距补偿的系统抗扰控制算法,并提出了基于机载简化发动机模型的多模式综合实时优化控制算法.试验结果表明:所建立的 直升机/发动机系统综合开闭环模型能够模拟发动机从起动到慢车再到直升机飞行的整个过程,自由涡轮转速超调量和下垂量均在4%以内,在不同飞行条件下,动静态品质均满足设计要求.本文还进行了综合系统多模式优化技术的半物理仿真,结果表明所设计综合控制律的良好工程应用前景.      

一种考虑齿轮副连续啮合过程的接触有限元动力学分析方法

在系统分析齿轮副连续啮合过程不同典型啮合状态特点的基础上,提出了一种可以考虑齿轮副连续啮合过程中啮合齿对变化,受载弹性变形以及滑动摩擦等影响因素的接触有限元分析方法.利用该方法对三种考虑不同因素的齿轮副模型进行了对比分析,并得到了各种因素对齿轮副连续啮合过程动态传递误差及动态接触力特性的影响.研究表明:该方法可以真实模拟齿轮副连续啮合过程中单、双齿对啮合及其交替啮合状态的动力学特性,包括滑动摩擦引起的节点冲击,受载弹性变形引起的啮入、啮出冲击以及时变刚度等激励特性;并可以得到啮入、啮出冲击的大小及作用时间,以及滑动摩擦和齿廓修形对动态啮合特性的影响;动态啮合特性分析结果与齿轮副连续啮合状态的特征完全吻合.      

模拟月尘对巡视器车轮轮轴材料的磨损试验研究

文章以CE-3巡视器车轮轮轴为研究对象,利用北京卫星环境工程研究所的月尘环境模拟器、摩擦磨损试验机以及自行研制的模拟月尘,对车轮轮轴主要材料进行了磨损试验研究。试验样品为轮轴常用的铝合金、聚四氟乙烯及轴承钢。文章分析了试验前后样品的表面形貌,采用测试系统获得了轮轴材料在不同试验条件下的摩擦系数曲线,采用电子天平测量了材料的质量损失;分析了真空、大气、有无月尘等试验条件以及材料本身在磨损试验中的效应。研究结果可为月面巡视器等月面应用设备的研制提供可借鉴的信息。     

并联硅基扩缩微通道热沉强化传热特性

采用去离子水作为冷却工质,实验研究了并联硅基扩缩微通道热沉内的流体流动与强化传热特性.基于微尺度强化传热机理,设计加工了两种并联硅基扩缩微通道热沉.通过测量流体的体积流量、进出口压降与温度、热沉底面加热膜温度,并以传统矩形直通道热沉为参照,获得了并联硅基扩缩微通道热沉在恒热流边界条件和不同体积流量工况下流体流动与对流传热特性参数.结果显示:相对于矩形直通道,并联硅基扩缩微通道热沉的表面传热系数可提高12.5%~85.1%,但摩擦因数只增加了-9.2%~31.4%.表明并联硅基扩缩微通道热沉具有优越的强化传热特性.      

高压载荷下旋转动密封结构转动力矩分析

对于高压下的旋转密封结构,开展O型橡胶圈的摩擦力矩影响因素分析,同时对摩擦力矩的近似解析算法和有限元算法进行计算对比,分析近似解析算法方法产生误差的原因,并利用地面压力容器试验装置进行计算结果的验证,得出近似解析算法仅适用于低压环境,而有限元计算结果对高低压环境均适用。