刚度和惯量对电动负载模拟器的影响分析
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摘要
为了提高电动负载模拟器的加载性能,根据电动负载模拟器的系统构成,建立其相应的数学模型,分析系统刚度和负载惯量对多余力矩、系统稳定性和响应速度这3个方面的影响,分析和确定了系统的最佳刚度和负载惯量,利用MATLAB软件对结果进行仿真验证;仿真结果表明:加载后的正弦曲线能够较好的复现,且响应速度快、稳定性好;设计电动负载模拟器最佳的刚度和负载惯量的时候,不仅要考虑到对多余力矩的抑制,还要考虑到系统的稳定性和响应的快速性。
To improve the load performance of the electric load simulator,the corresponding mathematical model was established according to the system configuration of the electric load simulator,The influence of stiffness and load inertia of the system for the surplus torque,the system stability and the response speed was analyzed,so as to analyze and define the optimal stiffness and load inertia. The simulation results were verified by MATLAB software. The simulation results showed that the sinusoidal curve could be reproduced well,the response speed was fast and the stability was good,and it is necessary to consider not only the suppression of surplus torque,but also the stability of the system and the rapid response when designing the optimal stiffness and load inertia of the electric load simulator.
To improve the load performance of the electric load simulator,the corresponding mathematical model was established according to the system configuration of the electric load simulator,The influence of stiffness and load inertia of the system for the surplus torque,the system stability and the response speed was analyzed,so as to analyze and define the optimal stiffness and load inertia. The simulation results were verified by MATLAB software. The simulation results showed that the sinusoidal curve could be reproduced well,the response speed was fast and the stability was good,and it is necessary to consider not only the suppression of surplus torque,but also the stability of the system and the rapid response when designing the optimal stiffness and load inertia of the electric load simulator.
引文
[1]赵旭昌.中小功率低惯量电机动态加载系统控制策略研究[D].北京:北京交通大学,2015Zhao X C. Research on control strategy in motor dynamic loading system with miniwatt and low inertia[D].Beijing:Beijing Jiaotong University,2015(in Chinese)
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[6] Kang S,Yan H,Dong L J,et al. Finite-time adaptive sliding mode force control for electro-hydraulic load simulator based on improved GMS friction model[J].Mechanical Systems and Signal Processing,2018,102:117-138
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[10] Nam Y,Hong S K. Force control system design for aerodynamic load simulator[J]. Control Engineering Practice,2002,10(5):549-558
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[12]于慈远,于湘珍,刘庆和.轴系刚度对新型空气动力负载模拟器的影响[J].航空学报,2001,22(2):148-150Yu C Y,Yu X Z,Liu Q H. Effects of shafting stiffness on new air dynamical load simulator[J]. Acta Aeronautica et Astronautica Sinica,2001,22(2):148-150(in Chinese)
[13]袁锐波,赵克定,罗璟,等.电液负载模拟器最佳广义连接刚度的分析研究[J].机床与液压,2006(8):108-110,143Yuan R B,Zhao K D,Luo J,et al. Study on optimal generalized coupled stiffness of electrohydraulic load simulator[J]. Machine Tool&Hydraulics,2006(8):108-110,143(in Chinese)
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[15]王鑫,冯冬竹.引入弹簧杆的电动负载模拟器实验研究[J].电机与控制学报,2012,16(9):91-94Wang X,Feng D Z. Experimental research on DC load simulator test bed with elastic rod[J]. Electric Machines and Control,2012,16(9):91-94(in Chinese)
[16]李成功,靳红涛,焦宗夏.电动负载模拟器多余力矩产生机理及抑制[J].北京航空航天大学学报,2006,32(2):204-208Li C G,Jin H T,Jiao Z X. Mechanism and suppression of extraneous torque of motor driver load simulator[J].Journal of Beijing University of Aeronautics and Astronautics,2006,32(2):204-208(in Chinese)
[17]段勇,万会雄,刘志.负载模拟器多余力补偿控制研究[J].起重运输机械,2017(3):69-73Duan Y,Wan H X,Liu Z. Research on compensation control of surplus force of load simulator[J]. Hoisting and Conveying Machinery, 2017(3):69-73(in Chinese)
[18]刘晓琳,王春婷,袁昆.电液负载模拟器的多余力抑制方法研究[J].计算机仿真,2015,32(7):23-27Liu X L,Wang C T,Yuan K. Research of strategy to restrain surplus force of electro-hydraulic loading simulator system[J]. Computer Simulation,2015,32(7):23-27(in Chinese)
[2] Wang C,Gao Q,Hou Y L,et al. Adaptive complementary fuzzy self-recurrent wavelet neural network controller for the electric load simulator system[J]. Advances in Mechanical Engineering,2016,8(3)
[3] Jing C H,Xu H G. Comparison of motion disturbance characteristics between traditional load simulator and friction load simulator[C]//Proceedings of the 2016 3rd International Conference on Information Science and Control Engineering. Beijing, China:IEEE, 2016:889-893
[4]陈家新,张筑亚,杨达勇.电动负载模拟系统仿真研究[J].电子设计工程,2016,24(6):178-181Chen J X, Zhang Z Y, Yang D Y. Electric load simulation system simulation research[J]. Electronic Design Engineering, 2016,24(6):178-181(in Chinese)
[5]于杰,王志胜.双电机舵机负载模拟器设计与研究[J].机械与电子,2017,35(2):28-31Yu J,Wang Z S. Design and research of electric load simulator for dual-motor servo[J]. Machinery&Electronics,2017,35(2):28-31(in Chinese)
[6] Kang S,Yan H,Dong L J,et al. Finite-time adaptive sliding mode force control for electro-hydraulic load simulator based on improved GMS friction model[J].Mechanical Systems and Signal Processing,2018,102:117-138
[7] Truong D Q,Ahn K K. Force control for hydraulic load simulator using self-tuning grey predictor-fuzzy PID[J].Mechatronics,2009,19(2):233-246
[8] Yao J Y,Jiao Z X,Yao B. Robust control for static loading of electro-hydraulic load simulator with friction compensation[J]. Chinese Journal of Aeronautics,2012,25(6):954-962
[9]张培,许宏光,郑大可,等.新型电液负载模拟器建模及仿真研究[J].液压与气动,2015(2):98-102Zhang P,Xu H G,Zheng D K,et al. Modeling and simulation research for a new type electro-hydraulic load simulator[J]. Chinese Hydraulics&Pneumatics,2015(2):98-102(in Chinese)
[10] Nam Y,Hong S K. Force control system design for aerodynamic load simulator[J]. Control Engineering Practice,2002,10(5):549-558
[11] Yao J Y,Jiao Z X,Shang Y X,et al. Adaptive nonlinear optimal compensation control for electrohydraulic load simulator[J]. Chinese Journal of Aeronautics,2010,23(6):720-733
[12]于慈远,于湘珍,刘庆和.轴系刚度对新型空气动力负载模拟器的影响[J].航空学报,2001,22(2):148-150Yu C Y,Yu X Z,Liu Q H. Effects of shafting stiffness on new air dynamical load simulator[J]. Acta Aeronautica et Astronautica Sinica,2001,22(2):148-150(in Chinese)
[13]袁锐波,赵克定,罗璟,等.电液负载模拟器最佳广义连接刚度的分析研究[J].机床与液压,2006(8):108-110,143Yuan R B,Zhao K D,Luo J,et al. Study on optimal generalized coupled stiffness of electrohydraulic load simulator[J]. Machine Tool&Hydraulics,2006(8):108-110,143(in Chinese)
[14]裴忠才,吴盛林,苏东海,等.连接刚度对电液负载仿真台的影响[J].哈尔滨工业大学学报,1997,29(5):112-114Pei Z C, Wu S L, Su D H, et al. Effects of interconnected stiffness on electrohydraulic load simulator[J]. Journal of Harbin Institute of Technology,1997,29(5):112-114(in Chinese)
[15]王鑫,冯冬竹.引入弹簧杆的电动负载模拟器实验研究[J].电机与控制学报,2012,16(9):91-94Wang X,Feng D Z. Experimental research on DC load simulator test bed with elastic rod[J]. Electric Machines and Control,2012,16(9):91-94(in Chinese)
[16]李成功,靳红涛,焦宗夏.电动负载模拟器多余力矩产生机理及抑制[J].北京航空航天大学学报,2006,32(2):204-208Li C G,Jin H T,Jiao Z X. Mechanism and suppression of extraneous torque of motor driver load simulator[J].Journal of Beijing University of Aeronautics and Astronautics,2006,32(2):204-208(in Chinese)
[17]段勇,万会雄,刘志.负载模拟器多余力补偿控制研究[J].起重运输机械,2017(3):69-73Duan Y,Wan H X,Liu Z. Research on compensation control of surplus force of load simulator[J]. Hoisting and Conveying Machinery, 2017(3):69-73(in Chinese)
[18]刘晓琳,王春婷,袁昆.电液负载模拟器的多余力抑制方法研究[J].计算机仿真,2015,32(7):23-27Liu X L,Wang C T,Yuan K. Research of strategy to restrain surplus force of electro-hydraulic loading simulator system[J]. Computer Simulation,2015,32(7):23-27(in Chinese)