Research On Dual-Motor Synchronous Control System Of Dynamic Flight Simulator

Modern fighter aircraft have high performance and high maneuverability,and the air combat situation becomes more and more complex,pilots must possess high G-load resistibility to meet the requirements of modern air combat.Using dynamic flight simulator to train pilots against high G-load can effectively improve training efficiency,reduce training costs and training risks,and reduce environmental pollution.The G-load is simulated by the synergistic movement of the arm,middle frame,and basket of the simulator.The double servo motors which drive middle frame and basket are directly involved in the G-load simulation of the dynamic flight simulator.The motion control quality directly affects the G-load simulation quality.It's very significant to study how to improve the performance of the dual-motor synchronous control system to drive the frame and the basket of the dynamic flight simulator.Designing the real-time motion control system to realize the control of the servo motors is very meaningful.At present,there are two ways to improve the performance of dual-motor synchronous control system:First,designing a reasonable controller to reduce the speed tracking error of a single motor;and second,designing a reasonable synchronous control structure to reduce the speed synchronization error of two motors.The key to designing a real-time motion control system is to establish a high-speed real-time communication network and to perform data communication and servo control with a superior motion controller.This article focuses on the dual-motor synchronous control strategy and the design of a high real-time motion control system.The main contents are as follows:(1)The dual-motor synchronization accuracy is affected by the performance of a single motor.In order to improve the dynamic response performance and speed tracking performance of a single motor,a fuzzy PI controller is designed,and fuzzy control technology and traditional PI technology are combined to achieve real-time correcting P and I parameters.Test of the dual-motor synchronous control system with traditional PI control and fuzzy PI control are simulated with Matlab,the result verifies the superiority of the fuzzy PI control.(2)Typical dual-motor synchronous structures are introduced.In combination with fuzzy PI controller,the four synchronous structures of parallel,master-slave,cross-coupling,and electronic virtual line-shafting(EVLS)are simulated and analyzed.The result shows that EVLS is superior to the other three structures in synchronization precision and response speed,and can be applied to the mid-frame dual-motors and the basket dual-motors of the dynamic flight simulator.At the same time,the influence of EVLS rotation inertia on the synchronization J_m is further studied.(3)Using EtherCAT protocol and TwinCAT software to set up the communication network,and the motion control system is designed to realize the motion control of one single motor and dual-motor synchronous motion,and using TwinCATHMI software tothe interactive interface.Dual-motor synchronous experiments of master-slave structure and electronic virtual line-shafting are performed on the site,and the result verifies that electronic virtual line-shafting structure can effectively improve the dynamic performance of system.