基于模拟负载变化的运载火箭伺服系统动态特性研究  

Research on Dynamic Characteristics of Launch Vehicle's Servo-system Based on Simulated Load Changes

作　　者：李泽宸 李雨清 李勇 冯加印 王宏辰 Li Zechen;Li Yuqing;Li Yong;Feng Jiayin;Wang Hongchen(Shanghai Aerospace Control Technology Institute,Shanghai 201109;Shanghai Engineering Research Center of Servo Systems,Shanghai 201109)

机构地区：[1]上海航天控制技术研究所,上海201109 [2]上海伺服系统工程技术研究中心,上海201109

出　　处：《航天制造技术》2023年第2期10-15,共6页Aerospace Manufacturing Technology

基　　金：中国航天科技集团有限公司重大工艺专项(ZDGY2017-30)。

摘　　要：针对伺服系统负载环境下的性能测试需求,设计一种可同时施加常值力矩、惯性力矩、弹性力矩以及摩擦力矩,且可完成产品安装刚度调节的负载模拟系统,并完成其结构子系统、液压子系统及电气子系统的方案设计,同时开展了模拟负载变化对伺服系统动态特性的影响分析。在完成负载模拟系统数学模型的建立后,通过搭建Simulink仿真模型分析了惯量、负载力矩以及刚度对伺服系统角位移动态特性的影响。其中,惯量的增大导致谐振峰位置前移且幅值增大,常值力矩和摩擦力矩对谐振峰位置无影响,但其数值增大引起幅值的降低,而刚度增大会导致谐振峰位置明显后移。通过将该仿真结果与伺服系统动态特性的指标要求相结合,为负载模拟系统的设计提供了理论参考。Aiming at the performance testing requirements of servo-mechanism in load environments,this thesis designs a load simulation system which simultaneously loads constant torque,inertia torque,elastic torque,and friction torque,and adjusts the installation stiffness of the product,then completes the scheme design of its structural subsystem,hydraulic subsystem and electrical subsystem.At the same time,this thesis conducts an analysis of the impact of simulated load changes on the dynamic characteristics of the servo-system.After establishing the mathematical model of the load simulation system,the influence of inertia,load torque,and stiffness on the angular displacement dynamic characteristics of the servo-system are analyzed by building a Simulink simulation model.Among them,the increase in inertia causes the resonance peak position to move forward and the amplitude to increase.The constant torque and friction torque have no effect on the resonance peak position,but their numerical increase causes a decrease in amplitude,while an increase in stiffness causes a significant backward shift in the resonance peak position.The combination of the simulation results and the dynamic characteristics requirements of the servo system provides a theoretical reference for the design of the load simulation system.

关 键 词：伺服系统 负载模拟系统 负载力矩 动态特性 数学模型 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]