超低磁动态测试系统的多场耦合振荡机理与补偿控制方法

The high precision magnetic navigation device requires dynamic testing and strict space calibration technology equipment. The accurate calibration system based on long fluid pipe is an effective way to realize dynamic testing in very low magnetic interference condition. However, the long hydraulic pipe will lead to low precision and bad dynamic characteristics. This will affect dynamic testing and error mark of magnetic navigation device. This proposal will study multi-field coupling mechanism and compensation control problem. We mainly focus on higher order nonlinear dynamics problems. The flow field analysis model with coupling effect between long pipe and hydraulic motor is established by means of numerical simulation. A quantitative description of the influence about long pipe coupled oscillations to system dynamic characteristics and invalid volume to system dynamic characteristics is proposed. The long pipe multi-field coupling vibration mechanism and energy transfer law are revealed. A higher order nonlinear dynamics global model including coupled oscillations, motor flow pulsation and invalid volume is established using the method of bond graph. On this basis, a novel compensation control algorithm is proposed. This research has important theoretical significance and application value. This research will push the development of precision dynamic measurement theory. Also, it is valuable for independent innovation of the high precision automatic calibration equipment used for the magnetic navigation device.

针对超低磁环境下动态测控系统精密测试与平稳控制尚缺乏成熟理论方法指导的现状，项目围绕由长管道效应和马达结构性流量脉动带来的高阶非线性动力学问题，开展超低磁动态系统的多场耦合振荡机理及补偿控制方法研究。首先借助数值模拟，建立长管道与马达流量脉动耦合的流场分析模型，定量描述多场耦合振荡、无效工作容积增加对系统动态特性的影响，揭示流体长管道多场耦合振荡机理及能量传递规律；然后探索系统全局统一建模方法，并采用键合图法，从系统角度建立包含"耦合振荡-马达流量脉动-无效工作容积"等因素在内的非线性动力学全局模型；最后基于系统全局数学模型，提出参变时滞系统多目标优化补偿控制新方法，并进行实验研究。研究成果将初步形成超低磁环境下动态测试的基础理论与方法，有效推动超低磁环境下动态测试技术的发展，同时为高精密三轴无磁转台研制提供技术支撑。

本项目针对超低磁环境下动态测控系统精密测试与平稳控制尚缺乏成熟理论方法指导的现状背景，围绕由长管道效应和马达结构性流量脉动带来的高阶非线性动力学问题，开展超低磁动态系统的多场耦合振荡机理及补偿控制方法研究。通过理论分析和模拟仿真，对长管道效应动力学模型、马达结构性流量脉动模型等基础理论进行了研究，建立了长管道马达系统的流场分析模型，定量描述无效工作容积增加对系统动态特性的影响。从系统角度建立包含“耦合振荡-马达流量脉动-无效工作容积”等因素在内的非线性动力学全局模型。提出了参变时滞系统多目标优化补偿控制新方法，并进行仿真分析与实验验证研究。在该项目资助下，发表论文21篇，其中SCI论文8篇，EI论文11篇,发明专利3项，培养研究生12名。本项目的科学意义在于有效推动了超低磁环境下动态测试技术的发展，同时为高精密三轴无磁转台研制提供了技术支撑。