A method and device for on-track clearance identification and compensation control of an electric servo system
A technology of electric servo and compensation control, applied in the direction of aerospace vehicle guidance devices, etc., can solve the problem of lack of feasibility of engineering applications
Active Publication Date: 2020-10-23
SHANGHAI AEROSPACE CONTROL TECH INST
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Problems solved by technology
Another solution is to only identify the amplitude of the gap in the system, that is, to determine the size of the gap; the above-mentioned prior art lacks the feasibility of certain engineering applications in both identification and compensation control
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[0066] An on-orbit clearance identification and compensation control method for an electric servo system, including three aspects: clearance characteristic modeling and oscillation mechanism analysis, clearance online identification, and clearance online compensation control.
[0067] 1. Gap characteristic modeling and oscillation mechanism analysis
[0068] a) Analysis of gap characteristic oscillation mechanism
[0069] The interface between the electric servo mechanism and the engine is an internal and external spline interface, there is an interface gap, and the damping of the engine swing shaft is small, the engine is easy to bounce back and forth on both sides of the gap, causing the engine to continue to oscillate. Such as figure 1 It is shown that when the engine stops at a certain position and remains stable, the deviation between the output shaft position of the servo mechanism and the command signal is 0, and the controller does not perform error correction. When ...
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The invention discloses an on-orbit clearance identification and compensation control method for an electric servo system. The on-orbit clearance identification and compensation control method comprises the following steps: step 1, establishing a clearance system model; establishing a clearance characteristic description function by utilizing the description function principle, and obtaining description of a relationship between an aircraft attitude angle oscillation limit ring amplitude and a servo clearance amplitude and description of a relationship between an aircraft attitude angle oscillation limit ring frequency and the servo clearance amplitude; step 2, according to the aircraft attitude information measured by a sensor, carrying out online fitting by adopting a least square method, to obtain a real-time attitude oscillation amplitude and a real-time attitude oscillation frequency, and then obtaining an online identification gap amplitude parameter; and step 3, according to theon-line identification gap amplitude parameter in the step 2, compensating the gap characteristic, and then outputting a compensated control instruction. The method is simpler to implement, the compensation precision better conforms to the actual flight state, and the compensation accuracy is ensured.
Description
technical field [0001] The invention relates to an on-orbit clearance identification and compensation control method and device of an electric servo system, belonging to the technical field of on-orbit aircraft control. Background technique [0002] At present, the clearance of the interface part in the aircraft field is mostly guaranteed by technology. In order to solve the problem of interface matching, the requirements for machining accuracy are high, and batches of products are mostly matched and screened. The cost is high and the progress is difficult to guarantee. At present, offline methods are often used for gap identification. Through sensor measurement methods, such as based on relay feedback technology, an identification method for the gap size of the servo system is given. Clearance at the interface between external systems. There are generally two formulations for gap identification technology research at home and abroad. The first is to identify the input and...
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IPC IPC(8): B64G1/24
Inventor 陈海朋黄飞余薛浩朱舰盛宏媛
Owner SHANGHAI AEROSPACE CONTROL TECH INST