The Research Of Low Speed Performance Of The Hollow-axis High Precision Electro-hydraulic Servo Motor

Hollow-axis high precision electro-hydraulic servo motor is a drive component which applied in inner frame of flight motion simulator and its performance directly determines fidelity of simulation results. Low speed performance is a key index in accessing the hollow-axis electro-hydraulic servo motor. Good performance of low speed not only simplified the structure of the flight simulation, but also offer the possibility of wide-velocity regulation. As a result, performing deep analysis on the low speed performance of the Hollow-axis electro-hydraulic servo motor plays an important role in improving the performance of the high precision flight simulation.After synthesizing large numbers of related literatures and reference materials at home and abroad, this paper summarize the outline of hollow-axis electro-hydraulic servo motor at home and abroad, introduces the key techniques and the development of the low speed theory on which the research fields are derived.Firstly, the dynamic model of the hollow-axis electro hydraulic servo motor is constructed using relevant theories on which the mathmatical model of the servo motor is derived. By means of comparison of different friction models, the Stribeck friction models is chosed as basis of further analysis on which the analysis of the performance of the system is performed.Secondly, as to the slip-stick phenomenon of the servo motor, this paper perform detailed discussion on the crawling mechanism, and the theoretical analysis is performed, and then the influence factor of the low speed is disscussed at length and the Matlab simultion is also performed.Regarding to the controll strategy, the PID control means is applied, and considering the periodicity of the slip-stick, the plug in repetitive control means is also adopted, the result of the simulation shows that the plug in repetitive control means can restrain the slip-stick phenomenon effetively.Finally, as to the result of the theoretical analysis, experiment is performed on the servo motor laboratory table which shows that the plug in repetitive control means can make further improvements on the slip-stick phenomenon.