Research On The Modeling Of Dual-motor Synchronization Driven Turntable Middle Frame And Deformation Control

Three-axis simulator is the key equipment for semi-physical simulation and testing in the aviation and aerospace fields. It plays an extremely important role in the research and development of aircrafts. As the performance of simulator has the trend of high precision, high power and high frequency response, it puts forward higher requirements for the anti deformability ability of turntable framework. Thus, the research on the deformation and strain of the turntable framework usually considered as rigid body synchronously driven by dual-motor has become the key issue. Because the dual-motor drives the same load, when the output of the dual-motor is not in synchrony, there will be the degradation of the motion performance of the system, which will limit the bandwidth of the system and cause the deformation of the framework. Therefore it is of great practical significance to undertake research on the synchronization drive mechanism of the electric-driven turntable and the control strategy of the synchronization drive system for the deformation restrain of the turntable framework.Based on a large number of relevant literatures, this dissertation introduces the development of simulator in home and abroad and the research situation of turntable frame deformation and synchronization control, and gives an overview on the research situation of the synchronization control strategy of the dual-motor and control algorithm.Under this background, the dissertation first analyzes the selection principles and methods of the electric-driven turntable components and establishes the mathematical model for each drive component. For the single-motor driven turntable, the researcher designs the current loop, speed loop and double-loop control system, and thereby establishes the mathematical model of the dual-motor synchronization driven turntable middle frameconsidering the stiffness of the drive shaft. In consideration of the flexibility and deformation of the turntable middle frame, this dissertation establishes dynamic numerical model for the turntable middle frame flexible body by using ANSYS and ADAMS. The researcher also uses the numerical simulation method to do research on the deformation of the turntable middle frame flexible body described by mode superposition method under various driving torque in ADAMS. The researcher puts forward the dual-motor synchronization control strategy based on fuzzy PI compensator and designs the fuzzy PI controller, and then applies this strategy on the synchronization driven turntable middle frame to restrain the deformation of framework. The researcher also carries out the simulation in the context of Matlab/Simulink for the dual-motor synchronization control strategy. The researcher uses the fuzzy PI control strategy based on the deviation coupling to restrain the deformation of turntable middle frameflexible body synchronously driven by the dual-motor, and uses the mathematical model of drive mechanism and controller established by Matlab/Simulink and the numerical meodel of flexible body calculated by ADAMS to carry out combined simulation.The results of modeling and simulation show that in terms of the dual-motor synchronization effect, the fuzzy PI control strategy based on the deviation coupling works better than conventional PI control, and it also has compensation and suppression effect for the load deformation caused by the inconsistencies of the motor parameters. The dynamic model of the dual-motor synchronization driven turntable middle frame consideringthe flexible body and deformation, the combined simulation method based on ANSYS, ADAMS and MATLAB, and the fuzzy PI control strategy based on the deviation coupling established by this dissertation lay a solid foundation for the further research on the deformation restrain of the turntable frame and the active vibration control system.