液压放大式超磁致伸缩直驱式伺服阀的设计与实验

研制了一种基于液压式微位移放大机构的超磁致伸缩直驱式电液伺服阀,在保证较大体积流量的前提下,提高了直驱式电液伺服阀的频响.采用弹性力学理论、有限元和计算流体力学(CFD)方法对直驱式电液伺服阀进行了结构设计和分析,并制作了超磁致伸缩直驱阀样机,在AMESim下建立其磁-机-液耦合模型.仿真和试验表明:所设计的超磁致伸缩直驱阀的频响超过100Hz和系统油压21MPa下的负载体积流量达到30L/min.      

基于舵机指令前馈的电液负载模拟器同步控制

电液负载模拟器是典型的带有强运动耦合的电液力(矩)伺服系统,克服由运动干扰造成的多余力是其控制的关键问题.针对于目前常用的同步补偿算法在消除多余力实际应用中存在的问题,提出了基于舵机指令前馈的同步补偿策略.该策略采用舵机速度指令信号和负载模拟器力矩反馈信号来实现精确的同步补偿,不需要舵机的速度信号、加速度信号以及阀控信号.同时该策略考虑了加载力矩对舵机输出速度的影响,相对于传统速度同步算法在大负载力矩跟踪下可得到更好的多余力消除效果,从而能实现更准确的速度同步补偿.针对于典型加载工况进行的仿真和实验结果表明,该策略能有效解决舵机运动扰动带来的多余力问题,进而提高动态加载精度.      

基于Fluent的电液泵流场与温度场有限元分析

介绍三相异步电机-轴向柱塞式电液泵(EHP)的集成结构与工作原理,计算电液泵机械损耗,在Ansoft软件中建立电液泵电机模型,仿真分析电液泵的电磁损耗,并在此基础上建立有限元耦合模型,借助Fluent软件仿真分析液压油在壳体内腔的流动与温度分布状态,以及关键零部件的温度分布。有限元分析结果表明,液压油可以在流道内充分流动,并且额定工作状态下,当进口液压油温度为35℃时,电机定子最高温度不超过58℃,转子最高温度不超过40℃,散热效果好于传统电动机-泵组。针对定子内部温度较高的现象,研究了定子四周打4个直径10 mm的通孔后的温度分布情况,并与打孔前进行了对比,结果表明,打孔后电机定子最高温度降低了0.6℃,局部区域温度降低超过3℃,散热效果改善明显。     

Study on Friction Torque Loading with an Electro-hydraulic Load Simulator

This article, in order to precisely impose friction on aircraft and weapon actuation systems, presents a new friction loading method characteristic of “torque-zero velocity” switching control with an electro-hydraulic load simulator. As the general Stribeck friction model has little related to static friction, it proposes a “torque-zero velocity” switcher, in which a zero-velocity controller is developed to load the static friction and a torque controller the kinetic friction. With the help of mathematical modeling, this article designs a “torque-zero velocity” switching controller and, correspondingly, provides a “dual-threshold judgment” algorithm. Simulation results indicate that the proposed method can be successfully used to carry out the static and kinetic friction simulation with an electro-hydraulic load simulator.     

飞机拦阻系统电液比例控制研究

在分析某纯机液飞机拦阻系统不足的基础上,设计了一种新型电液比例控制的飞机拦阻系统,提高了飞机拦阻系统对不同机型、拦停距离及撞网状况的适应能力。推导出系统的输出压力-飞机拦停位移曲线,在此基础上设计了极点配置自校正PID控制器。仿真研究表明,该飞机拦阻系统过渡时间仅为0.05s,响应速度较快,取得了满意的控制效果。     

基于积分鲁棒的电液负载模拟器渐近跟踪控制

电液负载模拟器(EHLS)是典型的电液力矩伺服系统,存在大量非线性特性和模型不确定性(特别是非线性摩擦),随着对电液力矩伺服系统跟踪性能的要求越来越高,传统线性控制策略很难满足加载系统的高性能需求,迫切需要设计先进的非线性控制策略。针对以上问题,建立了包含连续可微摩擦模型的系统非线性数学模型,基于Lyapunov理论设计了一种误差符号积分鲁棒控制方法。该方法能够克服模型不确定性对系统的影响,在舵机运动干扰作用下实现了系统的渐近稳定性能。实验对比结果验证了该控制方法的优良性能。     

电液比例阀的设计与实验研究

在电液比例阀的设计与计算中,弹簧的设计与计算一直是设计人员头痛的问题,在设计电液比例阀的过程中,本文作者通过大量实验和研究,总结出了电液比例阀中弹簧的设计与检验方法。     

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.     

飞机结构试验用加载作动器设计与效率分析

针对飞机结构试验尤其是静力试验中加载速度低、系统流量低的特点,设计了一种新型的基于阀控的飞机结构加载试验用的电液一体化作动器,阐述了其系统组成和工作原理,分析了阀控系统的效率问题,提出降低油源压力设计值来提高系统效率的方案,并通过AMESim高级建模仿真平台,对该电液一体化作动器系统进行建模仿真,验证了降低油源压力设计值方案对提高系统效率的有效性.其仿真结果表明所设计的电液一体化作动器能够满足设计要求,在飞机结构加载试验中具有很好的应用前景.     

PID Controller Optimization by GA and Its Performances on the Electro-hydraulic Servo Control System

A proportional integral derivative （PID） controller is designed and attached to electro-hydraulic servo actuator system （EHSAS） to control the angular position of the rotary actuator which control the movable surface of space vehicles. The PID gain parameters are optimized by the genetic algorithm （GA）. The controller is verified on the new state-space model of servo-valves attached to the physical rotary actuator by SIMULINK program. The controller and the state-space model are verified experimentally. Simulation and experimental results verify the effectiveness of the PID controller adaptive by GA to control the angular position of the rotary actuator as compared with the classical PID controller and the compensator controller.