摘要
以大载荷液压加载系统(HLSLS)为研究对象,目的在于寻求一种控制方法能够尽可能真实地模拟HLSLS在实际工作过程中所受到的力载荷。根据HLSLS的被动式力伺服控制结构及其工作原理,建立了执行机构的数学模型。设计了结合缓冲弹簧、舵机位移和速度前馈、输出力矩变化速度反馈的复合控制器结构,提高了系统的稳定性、加载精度和动态性能。提出了基于遗传算法的系统参数整定方法,克服了系统参数时变及非线性因素的影响。利用Matlab仿真环境和系统试验装置分别进行了系统动态特性实验。计算机仿真和实物测试结果表明:该控制器使HLSLS对于模拟飞行器舵机及其伺服系统所受到的惯性负载、摩擦负载和弹性负载具有很好的力矩动态跟踪能力,完全能够达到系统控制性能指标的要求,具有较高的工程实践价值。
In order to simulate factually the force received by the High Load Servo Loading System （ HLSLS）, a control method is pro- posed. The mathematic model of the actuator is established, based on the passive servo control structure and the working principle of the HLSLS. Then, the controller is designed to improve the stability, the loading precision and the dynamic performance, which combines with the buffer spring, the feedforward controller of the displacement and the speed of the steering engine, and the feedback controller of the moment speed. Based on the genetic algorithm, the tuning method of the system parameters is proposed to overcome the influence of the time - varying parameters and the nonlinear factors of the system. The dynamics performance of the system is simulated respectively by Matlab and the testing facility. The simulation and the experiment results show that the controller not only can make the HLSLS has a good moment dynamic tracking ability to simulate the inertial load and the elastic load, and meet the demand of the performance index of the system, but also has a high engineering practical value.
出处
《控制工程》
CSCD
北大核心
2014年第2期210-214,218,共6页
Control Engineering of China
基金
中央高校基金项目(ZXH2012D004
ZXH2012D015)
关键词
大载荷液压加载系统
系统建模
控制器
遗传算法
high load servo loading system
system modeling
controller
genetic algorithm
