Design Of Mechanical Structural And Research On Static And Dynamic Characteristic Of Electro-hydraulic Mix-drive Five-axis Simulator

Five-axis simulator is mainly used in the semi-physical simulation of theguidance system and its performance is directly related to the simulation accuracyof aircrafts or guided weapons. Therefore, research on the five-axis simulator hasimportant practical significance.Based on reviewing reference materials, this paper summarizes the backgroundand significance of simulator’s research and the development overview of the five-axis simulator, and it analyzes the main properties of the five-axis simulator.The mechanical structure of the five-axis simulator is designed based on thefive-axis simulator technology indexes and its three-dimensional model wasmade.The natural frequency is get by analyzing the modal of the mechanical body,which purpose is to make the performance of the mechanical structure meet thetechnical requirements.The paper analyzes and summarizes the geometry motion error of the five-axissimulator, and establishes the model of integrated spatial error of the five-axissimulator on the basis of multi-body kinematics error modeling theory. In order tomeet the technical requirements, the verticality and intersection of the five-axissimulator’s mechanical accuracy is detected. And then the measured data is put intothe model of integrated spatial error of the five-axis simulator to analyze the pointerror and position error of the five-axis simulator.The paper takes the three-axis simulator’s frame shaft as a example andestablishes the mathematical model of the electro-hydraulic position servo system.In order to reseaech the low-speed performance of the system, this paper analyzesthe mechanism of friction with the friction model of Stribeck. The friction model isintroduced into the simulation model of the electro-hydraulic position system.According to the features of system, the paper designes the composite controllerwhich considers characteristic of friction and contains the lag-advanced controlstrategies and the differential feedforward control. And then the controller issimulated to verify the rationality of the controller design as well as the static anddynamic characteristic of overall system.Finally, the experimental method is used to verify the validity of the controllerdesign and the static and dynamic characteristic of the electro-hydraulic positionservo system.