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Friction loading method and system

A loading system, dynamic friction technology, applied in general control systems, control/regulation systems, instruments, etc., can solve problems such as increasing the complexity of the system

Active Publication Date: 2021-08-06
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, for the friction in it, an additional parallel magnetic powder clutch is usually required, which increases the complexity of the system
Active loading of friction / moment using only a load simulator has not been proposed and solved

Method used

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  • Friction loading method and system
  • Friction loading method and system
  • Friction loading method and system

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Embodiment Construction

[0050] The present disclosure will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific implementation manners described here are only used to explain relevant content, rather than to limit the present disclosure. It should also be noted that, for ease of description, only parts related to the present disclosure are shown in the drawings.

[0051] It should be noted that, in the case of no conflict, the implementation modes and the features in the implementation modes in the present disclosure can be combined with each other. The present disclosure will be described in detail below with reference to the drawings and embodiments.

[0052] figure 1 The angle tracking curve of the servo system with friction load and the static friction plateau phenomenon are shown. figure 1 It can be seen from the figure that the angular displacement of the system motion starts to stop at the peak point, that is, when the s...

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Abstract

Provided is a friction loading method and system, wherein the friction loading method comprises switching control signal value S(k-1) is less than 0 at the previous moment, comparing the motion stop micro-speed threshold p 0 and system motion angular displacement θ l and motor angular displacement θ m the absolute value of the difference; and at the motion stop microrate threshold p 0 greater than the angular displacement of the system motion θ l and motor angular displacement θ m In the case of the absolute value of the difference, output a switching control signal value S(k) greater than 0 to control the displacement control mode to realize static friction simulation, otherwise output a switching control signal value S(k) less than 0 to control the adoption of Force / torque control mode is used to realize dynamic friction simulation, where k represents the current moment.

Description

technical field [0001] The present disclosure relates to a friction loading method and system. Background technique [0002] Friction is one of the most common loads in mechanical servo systems. It is a very complex nonlinear physical phenomenon that occurs between contact surfaces with relative motion. The friction characteristics not only seriously affect the control accuracy of the servo mechanism, but also cause crawling at low speeds, and even limit cycle oscillations, which affect its stability. In order to overcome the harm caused by friction, the simulation test of friction load is carried out in the development stage of the servo mechanism, which is usually realized by means of magnetic powder clutch, hydraulic or electric brake friction plate, etc. [0003] For many large-scale servo execution structures, such as aircraft and rocket thrust vectoring nozzle control mechanism, high-speed aircraft rudder surface servo mechanism, tank and artillery turret control mech...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 尚耀星李涛吴帅焦宗夏
Owner BEIHANG UNIV
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