Electric steering engine simulation modeling method based on parameter identification

A technology of electric steering gear and simulation modeling, which is applied in the field of servo control of aircraft to achieve fast iteration speed, short set-up cycle, and time-saving effects

Pending Publication Date: 2021-11-23
北京航天飞腾装备技术有限责任公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a simulation modeling method for electric steering gear based on parameter identification. In view of the complexity of the analysis of the friction link in the actual modeling and the many factors affecting the moment of inertia, it is not easy To obtain accurate simulation data and other issues, do not analyze step by step, but use the overall equivalent method to concentrate the moment of inertia and friction coefficient of multi-level links on two parameters for overall conversion

Method used

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  • Electric steering engine simulation modeling method based on parameter identification

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Embodiment 1

[0037] A simulation modeling method for electric steering gear based on parameter identification, comprising the following steps:

[0038] Step 1, utilize Laplace transformation, establish the preliminary simulation model of electric steering gear; Then carry out simulation to this preliminary simulation model, control algorithm is set as P control;

[0039] Step 2. For the actual electric steering gear, only P control is used to test the step signal and square wave to obtain the corresponding rise time Tr and overshoot σ;

[0040] Step 3. Take the rise time Tr and overshoot σ obtained from the test as the target value, set the value search range of the moment of inertia and friction coefficient of the electric steering gear, and obtain the calculated rise time Tr' and overshoot through simulation iterations σ', and then compare the calculation results of the simulation iteration with the target value obtained by the test, calculate the degree of deviation by using the princip...

Embodiment 2

[0050] A simulation modeling method for electric steering gear based on parameter identification, comprising the following steps:

[0051] Step 1. According to the voltage balance equation of the armature circuit of the electric steering gear and the torque balance equation on the motor shaft, a preliminary simulation model of the electric steering gear is established by using Laplace transformation;

[0052] Step 2. For the actual electric steering gear, use a certain control method to test the step signal and square wave to obtain the corresponding rise time Tr and overshoot σ;

[0053] Step 3. Take the rise time Tr and overshoot σ obtained from the test as the target value, set the value search range of the moment of inertia and friction coefficient of the electric steering gear, and iteratively obtain the simulated rise based on the preliminary simulation model of the electric steering gear. Time Tr', overshoot σ', and then compare the results of iterative simulation with ...

Embodiment 1 or Embodiment 2

[0062] Based on embodiment 1 or embodiment 2, a kind of electric steering gear simulation modeling method based on parameter identification comprises the following steps:

[0063] 1. According to the voltage balance equation of the armature circuit of the electric steering gear and the torque balance equation on the motor shaft Among them, u a (t) is the armature voltage, L a is the armature inductance, i a (t) is the armature current, R a is the armature resistance, E a is the back electromotive force, J is the moment of inertia, f is the friction coefficient, ω m (t) is the motor speed, M m (t) is the electromagnetic torque of the motor, M c (t) is load torque, and t is time. Through Laplace transform derivation, build a preliminary simulation model such as figure 1 Shown, where θ r (s) is the input command angle, E(s) is the error, G c (s) is the control law, K pwm is the power amplifier coefficient, u a (s) is the armature voltage, C m is the motor torque c...

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PUM

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Abstract

An electric steering engine simulation modeling method based on parameter identification aims at solving the problems that accurate simulation data is not easy to obtain due to the fact that friction link analysis is complex and rotational inertia influence factors are many in actual modeling; instead of analysis step by step, an overall equivalent mode is adopted, wherein the rotational inertia and the friction coefficient of the multi-stage links are concentrated on two parameters for overall conversion. In this way, the rising time Tr and the overshoot sigma of a typical input signal are used as target values, and a Matlab M script file is used for programming simulation. Then, according to mechanism analysis of the electric steering engine, through Laplace transformation derivation, a preliminary simulation model is built, an iterative calculation program is written, and the rise time Tr and the overshoot sigma which are calculated through simulation each time are compared with target values; and the deviation degree is calculated by adopting an error sum of squares minimum principle, and the rotational inertia and the friction coefficient meeting the error range requirement are searched, so that the purpose of establishing an accurate model is achieved.

Description

technical field [0001] The invention relates to a parameter identification-based simulation modeling method for an electric steering gear, which belongs to the field of servo control of aircraft. Background technique [0002] The accuracy of the simulation model of the electric steering gear is directly related to the design of the servo control algorithm and the setting of control parameters. Due to the many links in the model building process, the analysis is complicated, and the specific values ​​of some variables cannot be accurately obtained, etc., resulting in a large difference between the established model and the actual situation, causing the simulation results to be inconsistent with the actual situation, and the control algorithm and parameter setting need repeated trial and error , the debugging time is long. [0003] The modeling methods in the prior art often ignore some links that are not easy to measure, or estimate based on experience, which will directly l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/17G06F30/20
CPCG06F30/17G06F30/20
Inventor 宫志文霍明磊洪铮翟庆胜王冬金岳刘士鑫
Owner 北京航天飞腾装备技术有限责任公司
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