变排量液压马达旋转驱动系统具有效率高、响应快、高负载匹配性、低功率需求等优势,能够大幅提高飞机液压旋转驱动系统的效率。为实现对变排量液压马达旋转驱动系统的精确控制,需开展系统角位移控制技术研究。建立了系统的数学模型,搭建了AMESim仿真模型,分析了系统的运动特性及频域控制特性,提出了由排量回路、转速回路和角位移回路组成的三闭环串级控制方案,研究了不同控制参数对系统控制特性的影响。研究结果表明,双闭环控制无法满足旋转驱动系统的稳定条件,三闭环控制引入转速负反馈克服了双闭环控制中角位移对转速的正反馈效应,增大了位置回路的阻尼,能实现系统稳定控制。同时研制了原理样机并进行了测试验证,测试数据表明,三闭环控制方案能实现旋转驱动系统高精度位置控制,为变量马达在飞机液压旋转驱动系统中的应用提供了参考。
Abstract
Variable displacement hydraulic motor rotary drive system has the advantages of high efficiency, fast response, high load matching and low power demand, which can greatly improve the efficiency of aircraft hydraulic rotary drive system. In order to realize accurate control of the variable displacement hydraulic motor rotary drive system, it is necessary to carry out research on angular displacement control technology. The mathematical model and AMESim simulation model of the system are established, and the motion characteristics and frequency domain control characteristics of the system are analyzed. A three-closed loop cascade control scheme consisting of displacement loop, speed loop and angular displacement loop is proposed, and the influence of different control parameters on the control characteristics of the system is studied. The research results show that the double closed-loop control can't meet the stability conditions of the rotary drive system, and the introduction of negative feedback of rotational speed in the three closed-loop control overcomes the positive feedback effect of angular displacement on rotational speed in the double closed-loop control, increases the damping of the displacement loop, and realizes the stable control of the system. At the same time, a prototype is developed and tested. The test data show that the three-closed loop cascade control scheme can realize high-precision displacement control of the rotary drive system. It provides a reference for the application of variable motor in the aircraft hydraulic rotary drive system.
关键词
变排量液压马达 ;
旋转驱动 ;
功率自适应调节 ;
角位移控制 ;
三闭环串级控制
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Key words
variable displacement hydraulic motor ;
rotary drive ;
self-adaptive power regulation ;
angular displacement control ;
three-closed loop cascade control
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