| High precision electro-hydraulic servo swing motor is a drive component which applied in inner frame of the electro-hydraulic servo simulation turntable frame and its performance directly determines the overall performance of the simulation turntable. With the development of aerospace science and modern military technology in China, the use requirement, application range and using requirements of electro-hydraulic servo swing motor become higher and higher. The electro-hydraulic position servo system is very suitable for simulation turntable as electro-hydraulic servo drive because it is integration of the electrical processing method and the hydraulic system advantage of fast response, large power. But in the previously study of electrohydraulic servo swing motor, the majority of studies ignore the influence of the friction of the swing electro-hydraulic servo motor produce, or idealize the frictional force, and then the linear friction model is establish. Research has shown that this approach will seriously affect some related performance metrics, such as the synchronization accuracy of electro-hydraulic servo swing motor. In order to reduce the impact of friction, this paper researches from two aspects aimed at the friction problem of electro-hydraulic servo swing motor. On the one hand is to develop low friction of electro-hydraulic servo swing motor, on the other hand is from the friction compensation control method to resolve the problem. The object is to improve the performance demands of electro-hydraulic servo oscillating motor and at the same time satisfy the performance of the electro-hydraulic servo simulation turntable.Based on a large amount of domestic and foreign relevant data, the electrohydraulic servo swing motor development status at home and abroad is summarized. The rectangular sealing structure, trapezoid sealing structure and star sealing structure are simulated in different pre-compression using simulation software ADINA. The distribution of the contact pressure and the friction are quantitatively analyzed according to the simulation results to get the most suitable sealing structure of electrohydraulic servo swing motor. From the perspective of clearance sealing, the sealing problem of electro-hydraulic servo swing motor is analyzed. According to the principle of parallel plane gap flow, the leakage and friction force are quantitatively analyzed. The effect on electro-hydraulic servo swing motor is analyzed by comparing the combined sealing and the clearance sealing. The experiment platform is built. The leakage is measured to analyze the leakage problem of the motor. The friction nonlinear model of electro-hydraulic servo swing motor is set up. The correctness of the model is tested by simulation. The feedforward compensation link based on the method of friction model is set up which is used to compensation the friction. The result of compensation is proved by simulation. |
