Research And Practice Of Real-Time Control System Of Large-Scale High-Accuracy Hydraulic Servo 3-Axis Flight Motion Simulator

As an important aspect in estimating general national power, especially in national defense of one country, aviation and spaceflight technology has been highly emphasized by all the countries. And missile technology is much important and is the integrated exhibition of advanced aviation and spaceflight technology. Flight motion simulator is most important simulation experiment equipment in missile research process with high accurate and cuspidate capability. It has great economic value and strategic significance in national defense. Dependability and reliability of simulation experiment are highly connected with the capability and performance of the simulator, which is the basis of the accurate and performance of aviation and spaceflight weapon system.The 3-axis flight motion simulator system is being researched and developed by our institute for China Navy. In the process of the R&D of the simulator, some nonlinear factors can’t be neglected to realize or improve some performance. And some of the factors could affect the precision, while some others may change the dynamic performance of the simulator.This paper has studied hardware, software, and control tactic and performance experiment for the control system. And excellent effect had been acquired.First of all, the paper has described the actuality of the simulator researched by both domestic and abroad, and analyzed the key technology of the simulator.Then, the paper has introduced the simulator system and set up a mathematic model of the hollow hydraulic motor. And, the friction models which are usually used have been introduced. The reason why the frictions exist is indicated and the friction moment has been calculated quantificationally. The affection and the compensating method of the friction have been briefly introduced, too.In the third chapter, the struction of the control system and the shortcuts of the traditional PID controller have been raised, and then the paper indicates a kind of improved PID controller to solve the shortcuts. Taking the improved controller into practice has pay back an excellent result. And then, the paper has enunciated the configuration of the hardware, the way of wire-connection, and pin connector assignment of the cards, including four Advantech I/O cards, an NI counter and a VMIC reflective momery cards.In the fifth chapter, the software realization of the system in Simulink has been represented detailedly. The principle and the struction of some modules, including adjusting coordinate, signal generator, protection of the simulator, data alternation in real-time network, etc, has been introduced.Then plenty of experiment has been done and a set of parameter is fixed, with which an excellent result has been acquired.Finally, the summary of the paper has been shown, and the prospect of the project and relay has been represented.