CAJ | 학술논문

针对大体积飞行器仿真试验时的重力偏载情况,设计制造了一种仿真转台用中空式电液伺服马达.对影响其超低速跟踪性能的摩擦力矩进行了分析,建立了大摩擦力矩条件下的中空马达数学模型.设计了一种基于LuGre模型的自适应摩擦力矩补偿控制器.为验证该控制器的有效性,进行了不同输入下的数值仿真及试验研究.结果表明,与传统的PID控制相比,基于LuGre模型的自适应摩擦力矩补偿控制能够更好地实现马达的低速性能.
침대대체적비행기방진시험시적중력편재정황,설계제조료일충방진전태용중공식전액사복마체.대영향기초저속근종성능적마찰력구진행료분석,건립료대마찰력구조건하적중공마체수학모형.설계료일충기우LuGre모형적자괄응마찰력구보상공제기.위험증해공제기적유효성,진행료불동수입하적수치방진급시험연구.결과표명,여전통적PID공제상비,기우LuGre모형적자괄응마찰력구보상공제능구경호지실현마체적저속성능.
In order to avoid the unbalanced gravity load during the simulation of large-scale aircrafts, a hollow electro-hydraulic servomotor for the simulation turntable is designed and manufactured. Then, the friction torque to affect the ultra-low-speed tracking performance is analyzed, and a mathematical model of the servomotor with large friction torque is established. Moreover, an adaptive controller with friction compensation is devised based on the LuGre model. Finally, simulations and experiments with different inputs are carried out to verify the effectiveness of the controller. The results show that, as compared with the conventional PID controller, the proposed adaptive controller helps to implement the low-speed performance of the servomotor better.