| Servo actuator is an important part of the missile guidance and control system,its performance directly determines the dynamic quality of the missile during flight.The development of modern missile technology put forward higher and higher requirements to servo actuator's comprehensive performance index,and servo actuator loading test has become an important technical means of its performance detection and research.Aiming at the dynamic performance test of servo actuator,a new scheme of dynamic loading of servo actuator system by a linear motor drive force module was proposed.The characteristics of the load system and control strategy were studied deeply.The main research works and results are as follows:1)A scheme of the servo actuator dynamic load system using a linear motor drive force module was proposed,which can realize the small displacement,large thrust force and high-frequency dynamic loading program.It gave full play to the advantages of electric loading easy installation and maintenance,flexible control and high dynamic characteristics of linear motor,and the force module can boost the force.2)The mathematical model of the loading system and the servo actuator system were established respectively.The characteristics of the system and the redundant force were studied.The coupling characteristics between the loading system and the servo actuator system was analyzed.Coupled interference of redundant force is a special case that the dynamic loading system must face,and it is also a key factor affecting the force control precision of the loading system.3)A compound control scheme of multi-loop and feedforward was designed.The position feedforward and velocity feedforward were adopted to reduce the phase lag of the system.The feedforward compensation based on the principle of structural invariance was used to restrain the redundant force.The fuzzy self-adaptive PID controller was designed for the force closed-loop of the loading system,by adjusting the PID parameters in real time,which can further effectively restrain the redundant force and improve the control precision and adaptability of the system.Finally,the control strategy of the system was simulated and verificated.4)Based on Matlab/Simulink and AMESim,the simulation model of linear motor,force module and servo actuator hydraulic system were established respectively.The advantages of the two simulation software were brought into full play,and the simulation experiment was carried out by using interface technology,the modeling efficiency and simulation accuracy are more higher than the simple mathematical modeling method,and further verify the correctness of the loading scheme and control strategy. |
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