Classification,Recognition And Processing Method Of Complex Mechanical Resonance In Electromechanical System

In the hardware-in-the-loop simulation of aircraft,the traditional three-axis simulation turntable has three frames connected in series with the outer,middle,and inner ones,which can accurately simulate the three attitude changes of the aircraft in space,which is currently commonly used.Key equipment.With the development of aerospace technology and the expansion of actual needs in military and other fields,the full attitude flight simulation of aircraft has gradually attracted attention.However,the traditional three-axis simulation turntable has a kinematic singular position and cannot meet the new requirements.In order to avoid singular positions on the premise of ensuring the attitude of the aircraft in the simulated space,scholars have proposed a four-axis turntable scheme,which realizes additional secondary tasks by adding redundant degrees of freedom.Based on the four-axis turntable scheme,this paper takes into account the performance requirements of real-time,accuracy and avoiding singular positions,and gives a solution for the angular position of the turntable frame,which overcomes the accuracy and inability of the existing schemes.Limitations of simulation within the attitude range.This paper mainly focuses on the following aspects of research:Firstly,the two-inertia system is theoretically analyzed and modeled to obtain a simplified motor-load two-inertia model,and the stability and dynamic performance of the two-inertia model are analyzed through simulation.In addition,in order to make resonance identification and resonance suppression more targeted,combined with actual engineering experience,all factors that may cause resonance are classified according to the cause of resonance,and pave the way for the on-line identification and suppression algorithm of the classification of resonance later.Secondly,in the resonance identification part,an overview of the fast Fourier transform algorithm is carried out as the basis of resonance identification.Different from the predecessors,when selecting the resonance threshold,it is not quantified by actual engineering experience,but by determining the resonance sensitivity factor of the servo mechanism and quantifying the threshold according to the formula.Based on the identification method of fast Fourier change,different identification strategies are proposed for each type of resonance according to different characteristics,and the accuracy of the identification strategy is verified through simulation experiments.Then,in the resonance suppression part,the principle of the notch filter and the influence of the notch filter on the system are analyzed as the basis of resonance suppression.Aiming at general resonance,a set of adaptive notch filter resonance suppression algorithm is proposed,and each parameter in the notch filter is designed.Based on the resonance suppression method of the adaptive notch filter,different suppression strategies are proposed according to the characteristics of the classified resonance and the identification results,and the effectiveness of the suppression strategy is verified through simulation experiments.Finally,use the turntable servo system to verify the resonance identification and suppression algorithm.Two sets of resonance experiments were carried out on the actual turntable servo platform.The first experiment was to cause resonance in the servo system by loosening the load,and the second experiment was to cause resonance in the servo system by adding a second-order oscillation link in the forward channel.The identification and suppression algorithms for load looseness and position-related resonance proposed in the two chapters suppress the generated resonance and have a certain suppression effect.the magnitude of the resonance peak before and after suppression is compared,and the reason for the smaller change in the amount of the resonance peak is given.