流量/压力双状态独立可控电液负载模拟新原理与方法

Electro-hydraulic load simulator (EHLS) is the key equipment of hardware-in-the-loop (HIL) experiment. Accurate load simulation has always been a thorny problem because actuator's (the loaded system) motion disturbance. This project proposes a novel load principle of which the states of flow and pressure can be controlled independently. A new load solution, based on the proposed principle, called "pump-valve compound load system with double control freedoms", is developed. The present solution consists of a pump controlled velocity servo subsystem and a valve controlled pressure servo subsystem. Through governing pump's speed of velocity subsystem, the load system can be regulated to move synchronously with actuator system so that the actuator's motion disturbance could be decoupled. Through controlling the valve of pressure subsystem, the load pressure of load system can be controlled. Accurate load simulation can be achieved by the coordinated control of the velocity and pressure subsystem. Based on the developed system, another novel load solution is further present, which belongs to volume controlled load system by speed regulating. In this project, theoretical analysis, simulation calculation and experimental study will be integrated to study the key technology of "flow/pressure independently controllable", and to explore the performance causes of "pump/valve two-degree-of-freedom compound electro-hydraulic loading system". This project will provide new theoretical basis, implemental method and experimental data for the urgent demand of high precision, high power and high efficiency in fields such as mining machinery, aviation/ aerospace, and national defense, etc.

电液负载模拟器是半实物仿真实验的关键设备，由于被加载对象的主动运动干扰，高精度负载模拟一直是研究难点。本项目提出流量/压力双状态独立可控电液负载模拟原理，并基于该原理提出泵-阀复合双自由度调节电液负载模拟方案。所提方案由一个泵控速度伺服子系统和一个阀控压力伺服子系统构成，通过对速度子系统泵转速的控制，解耦舵机的运动干扰；通过对压力子系统伺服阀的控制，实现压力控制；通过对两个子系统的协调控制实现负载模拟功能。在泵-阀复合加载方案基础上，进一步提出基于转速调节的容积控制电液伺服加载方案。本项目采用理论分析、数字仿真及实验验证相结合的方法，开展流量/压力双状态独立可控负载模拟关键技术研究，探索泵-阀复合双自由度电液伺服加载系统性能成因，为我国矿山机械、航空航天、国防建设等领域对高精度、大功率及高能效负载模拟的需求，提供新的理论依据、实现方法和实验数据。

地面半实物仿真加载实验在我国航空、航天及国防武器领域有着广泛地应用，电液负载模拟器是该实验的关键测试设备之一，研制高性能的电液负载模拟系统具有重要的现实意义。本项目以实现低功耗、高精度负载模拟为研究目标，充分发挥阀控伺服技术动态响应快、泵直驱闭式伺服技术能量利用效率高的优势，提出了一种流量/压力双状态独立协调控制电液负载模拟原理，并通过泵阀复合联控作动器运动加载系统实现。项目采用理论分析、仿真研究与实验验证相结合的研究手段，分别研究了泵控闭式伺服系统及阀控伺服系统的性能特点及其高精度控制策略，提出了一系列控制方法，包括电液负载模拟双环控制方法、电液伺服系统非匹配干扰补偿方法、基于降阶模型自抗扰电液伺服控制方法、基于扩张状态观测器的滑膜泵直驱伺服控制方法等；利用计算机仿真手段对泵控子系统进行参数优化，研究了基于舵机运动速度反馈信号和加载系统结构参数的泵控子系统速度指令生成方法；对比分析了阀控系统、泵控闭式系统及泵阀复合联控系统的能量效率和伺服性能；研究了基于阀控力伺服阀子系统和泵控闭式速度伺服子系统构成的泵阀复合运动伺服加载关键技术。项目通过对泵阀复合运动加载关键技术的研究，为我国航空航天和国防建设等领域对高精度/大功率负载模拟技术的迫切需求提供了新思路和技术手段；项目的相关成果丰富、完善容积电液伺服控制理论，为泵控直驱系统和阀控伺服系统的性能提升以及在工业、国防等领域的推广与应用提供了新方法。