Research On Control Technique Of Rudder Surface Load Simulation System In Medium Range Load Spectrum

In recent years,the new generation operational & tactical missile weapon systems are put into service in China,which have the characteristics of ultra-high flight speed,strong defense penetration and high strike accuracy,have become the cornerstone to defend national security.Onboard servo-gear is an vital servo equipment,which is used to drive rudder deflection,make attitude adjustment,guarantee missile strike accuracy.It’s overall performance will directly influence technical & tactical index of weapon system.On account of experiment with live ammunition is costly,and hard to obtain all the experimental data,emulational load environment in the stages of research &development,as well as product acceptance test of servo-gear on the earth will be needed.In this dissertation,based on practical scientific research project of CASC,the R-EHLS(the rudder electro-hydraulic load simulator)is developed,characteristics of R-EHLS are modeled and analyzed,active & passive compensation technologies to restrain system surplus torque are researched,which simulation and experimentation are carried out to validation.Firstly,according to the test requirement of the servo-gear,the overall design of R-EHLS is accomplished.To full fill the function need of servo-gear,design of loading/bearing subsystem,hydraulic power subsystem and M&C(measurement and control)subsystem is accomplished respectively,make foundation for further study of EHLS.Secondly,the mathematical model of R-EHLS is established and analyzed.A comprehensive mathematical model of R-EHLS is established after modeling the hydraulic servo system and related electro-mechanical transformation.The frequency characteristics and the structural factors affecting the dynamic characteristics of R-EHLS are analyzed through mathematical model.Measurements to optimize the performance of EHLS are proposed.Thirdly,the causes and dominant factors of surplus torque which worsen the performance of R-EHLS are analyzed,and related surplus torque passive compensation techniques are researched.The dynamic characteristics of surplus torque and it’s consequences in various stages are obtained after analyzing the mathematical expression of surplus torque and mechanism of external disturbance.The characteristics of hydraulic servo system and components are studied by physical modeling,the effectiveness of surplus torque passive compensation is verified by simulation after adjusting the pre-opening type of the spool orfice and the oil-circuit of hydraulic motor.The principle and structure schematic diagram of variable volume hydraulic motor is proposed.Then,the active control techniques of R-EHLS is studied,the simulation results are compared and the control effects of different controllers are analyzed.Forward compensation technology is studied,base on structure invariance theory,an improved PID controller is designed.The backstepping controller is designed for R-EHLS,which is improved based on the discrete fastest tracking differentiator to overcome the problem of "explosion of terms".Through simulation results,the control effects of different controllers are analyzed,and the direction of optimizing the controller performance is proposed.Finally,experiments are carried out on the experimental load simulator,the performance of different controllers is analyzed.Under the conditions of none-disturbance,surplus torque suppression and dynamic load spectrum,the tracking& loading capacity of different controllers is analyzed,and the improvement direction is proposed according to the experimental results.