Research On Dual Motors Synchro-Driven Control And System Identification

Flying posture simulator is a set of high-tech equipment with important significance of economic value and national defense. Its performance indexes directly relate to the fidelity of simulation results. With the present increasingly austere international situation and the development of modern military techniques in China, the demands for technical level,applying range and request of simulator become higher and higher. Since all the three gimbals of the simulator are directly driven by hydraulic motors, the performance of the hydraulic control system is very important to the simulator.In order to improve the total motion performance of the simulator, its middle gimbal, one of the three axes, is driven by two hydraulic motors. The two motor synchro-driven systems arouse interaction between the two motors connected to a common load when the two motor's outputs are asynchronous. The interaction worsens the system motion performance, limits the system's bandwidth, what is more serious is that it may make the control system unsteady. Therefore, it is necessary to study the property of hydraulic servo system, interaction mechanism of the two motor synchro-driven system and synchro-control method.This thesis builds mathematical model of the dual motors synchro-driven system which concerns about the transmission axis stiffness, and analyzes the interaction mechanism of the system and the factors affecting the synchro-motion precision. Based on the system is of the characteristics of coupling effect, the difference between two motors'transfer functions and system parameters'time variability, the thesis proposed a synchronization control based on synchro-error feedback. Simulation results prove that this method is very effective to improve synchro-motion precision of the synchro-driven system in simulator's middle gimbal.Because the mathematical model derived from nominal parameters may lead to large deviation, this thesis proposes an idgrey-box identification method that especially suit to the servo hydraulic system. By collected some effective experiment data, and obtained real parameter of dual motor system through using the software MATLAB.The foundation laid for the experiment research of the synchro-drive system of the simulator'middle gimbal.The synchronal performance experiment of synchro-driven system of the simulator's middle gimbals is done with the equal-state synchronization manner. The experiment results prove that all its performance indexes have been received its design standard. Some practical conclusions are received.