| The load simulation system is a hardware-in-loop simulation device that tests the actual performance of the steering gear position servo system when the aircraft is in the air under the laboratory conditions.The load simulation system has undergone a process from mechanical to hydraulic then to electric.The continuous development of servo motor and power electronic components as well as the mainstream position of electric steering gear in the aircraft system make the electric load simulation system become the main equipment for the simulation of the servo load torque these years.However,the electric load simulation system is directly connected to the steering gear.The excess torque problem generated during the loading experiment is not completely solved.This paper presents a new type of no-torque centrifugal load simulation system,which uses a centrifuge to drive the mass on the rotary table to rotate around the spindle of the centrifuge so that the centrifugal force received by the mass is transferred to the steer shaft through the mechanical structure and finally acts on the steering shaft.In this paper,a certain kind of centrifugal load simulation system of the hardware-in-loop simulation experiment system is taken as the research object,and the mechanism modeling,performance analysis and experimental study of the centrifugal load simulation system are carried out with the engineering practice as the background.Firstly,the composition of the centrifugal load simulation system is established,the dynamic model of the system is established and the simulation is made.The mathematical model of the servo system and the linear displacement servo system are established by the mechanism modeling method.And then the complete state space model of the system is obtained.Based on the mathematical model of the load simulation system,the load moment simulation principle of the system is analyzed.Secondly,the control strategy of the centrifugal load simulation system is analyzed.After the control structure of the whole system is determined,the system performance index is decomposed by theoretical analysis and simulation.The speed servo index and the position servo index are determined by the torque servo index,and then the specific control methods used by each controller in the system control structure are determined,and the reasons for choosing these control methods are explained.Then,the multi-loop control design of the centrifuge speed servo system and thelinear motor position servo system is carried out,so that the two servo systems meet the servo performance requirements,and then the system input and output linearization controller is designed.Then the H∞ controller based on the hybrid sensitivity optimization method of the system is designed,which makes the final system meet the torque servo performance requirements.Finally,the control scheme is applied to the actual centrifugal load simulation system.After the torque servo system and the linear motor position servo system are respectively verified,the torque servo performance of the complete system is finally verified which makes sure the reasonability of the complete control scheme. |
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