Study Of Selfadaption Control System Of Continuous Rotary Electrohydraulic Servomotor

Control and guide system is the kernel of the aircraft, and one of the main methods that evaluate its performance is to test and evaluate its all performances and examine its operation state and tract precision by the simulation equipment at the ground through the analog of missile system or the practical flight environment. But the conventionality continuous rotary dynamic hydraulic motor can not meet the performance requirements of simulation revolving stage: ultra-low speed, high precision, broad timing, high frequency response etc. So this thesis develops and studies direct-driving-type continuum rotary electrohydraulic servomotor of the simulation rotary stage and its control system.The work done in this thesis includes providing a construction model of a new lamina-type continuum turning electrohydraulic servomotor without pulsing; analysing construction model of the new motor in theory and reducing radical parameter formula of the motor such as delivery capacity, rate of flow, rotate speed and torque etc; adopting lamina compressing construction which take advantage of combined action of spring and decompression valve to improve the friction character of motor; definiting eighth-power curve as the transition curve of the inner curved surface of the motor stator, and studying the dynamic character of the eighth-power curve though computer stimulation; introducing the method that can buffer press impact and control inner combination clearance; analyzing elaborately low speed friction character of motor in theory and study it by simulation, summarizing the relation between the friction character and output pressure of the decompression valve and the relation between the load character and the quantity of fan; building the mathematic model of the electrohydraulic position servo system of a single channels of the continuum turning motor, and analyzing its stability, frequency character and precision; studying sinusoidal response, slope response and jump response through computer simulation when the practical system is controlled under the function of PID and complex control; building the experiment platform of electrohydraulic position servo motor system with a single channels and designing experimental hardware circuit and control software.The experiment results show that lamina-type continuum turning electrohydraulic servomotor without flutter has the advantages of super low speed, high precision , broad timing and high frequency response etc, and may be used conveniently in modern simulation revolving table.