航天伺服机构鲁棒控制与机电液联合仿真

doi:10.12305/j.issn.1001-506X.2023.10.26

摘要/Abstract

摘要：

航天伺服机构设计对于航天器的控制而言具有重要作用, 其控制算法的研究与仿真模拟平台的搭建具有重要的实用价值。针对航天伺服机构的机械、电、液压等环节完成仿真建模, 完成了伺服机构的整体模型建立。在ADAMS中进行了伺服机构的机械结构搭建, 使用AMESim完成了液压模块的搭建, 并采用H_∞理论设计了鲁棒控制器, 利用Matlab工具箱完成了控制器的构建。结合ADAMS、AMESim的动力学模型, 联合Matlab控制器模型, 实现了各部分模块的联合仿真。通过联合仿真技术完成了对实物系统更加真实的模拟, 并且更直观地展现了实验结果, 对于实际航天伺服机构系统的设计和搭建而言具有重要的指导意义。

关键词: 联合仿真, 伺服机构, 机电液一体化, 鲁棒控制, 航天器

Abstract:

The design of spacecraft servo mechanism plays an important role in the control of the spacecraft. The research of control algorithm and the construction of simulation platform have important practical value. This paper modelles and simulates the mechanical, electrical, hydraulic parts of the aerospace servo mechanism. The overall model of the whole servo system is established. The mechanical structure of the servo mechanism is built in ADAMS and the hydraulic module is built by AMESim. Based on H_∞ theory, the robust controller is built with Matlab toolbox. Combined with the dynamics model of ADAMS and AMESim, as well as the Matlab controller model, the joint simulation of each module is realized. Through the joint simulation technology, the simulation of physical system is more realistic, and the experimental results are also displayed more intuitively. This simulation has a good guiding significance for the design and construction of actual spacecraft servo mechanism system.

Key words: joint simulation, servo mechanism, mechanical-electrical-hydraulic integration, robust con-trol, spacecraft

中图分类号:

E927

胡涛, 申立群, 付晋, 范天祥. 航天伺服机构鲁棒控制与机电液联合仿真[J]. 系统工程与电子技术, 2023, 45(10): 3218-3225.

Tao HU, Liqun SHEN, Jin FU, Tianxiang FAN. Robust control and mechanical-electrical-hydraulic joint simulation of spacecraft servo mechanism[J]. Systems Engineering and Electronics, 2023, 45(10): 3218-3225.

图/表 14

图1

图2

表1

图3

图4

图5

图6

图7

图8

图9

图10

图11

图12

图13

参考文献 30

1	周成宝, 周荻. 面向摆动喷管的导弹非线性姿态控制[J]. 系统工程与电子技术, 2016, 38 (5): 1107- 1113.
	ZHOU C B , ZHOU D . Nonlinear attitude control of missiles oriented to swinging nozzles[J]. Systems Engineering and Electronics, 2016, 38 (5): 1107- 1113.
2	魏泽宇, 许文波, 张国林, 等. 航天机电伺服系统的自抗扰控制[J]. 控制理论与应用, 2021, 38 (1): 73- 80.
	WEI Z Y , XU W B , ZHANG G L , et al. Active disturbance rejection control of aerospace electromechanical servo system[J]. Control Theory & Applications, 2021, 38 (1): 73- 80.
3	SUN W C , GAO H J , YAO B . Adaptive robust vibration control of full-car active suspensions with electrohydraulic actuators[J]. IEEE Trans.on Control Systems Technology, 2013, 21 (6): 2417- 2422. doi: 10.1109/TCST.2012.2237174
4	ZHAO S D , WANG J , WANG L , et al. Iterative learning control of electro-hydraulic proportional feeding system in slotting machine for metal bar cropping[J]. International Journal of Machine Tools & Manufacture, 2005, 45 (7): 923- 931.
5	SUN G F , LIU J . Dynamic responses of hydraulic crane during luffing motion[J]. Mechanism and Machine Theory, 2006, 41 (11): 1273- 1288. doi: 10.1016/j.mechmachtheory.2006.01.008
6	LYNN A, SMID E, ESHRAGHI M, et al. Modeling hydraulic regenerative hybrid vehicles using AMESim and Matlab/Simulink[C]//Proc. of the SPIE. International Society for Optical Engineering, 2005: 24-40.
7	LIU C Q , JIANG Y F , ZHANG Z Z , et al. Research on electro-hydraulic servo system of air rudder on model reference adaptive control[J]. Journal of Physics: Conference Series, 2020, 1650 (2): 022001. doi: 10.1088/1742-6596/1650/2/022001
8	付永领, 朱承建. 基于AMEsim软件的大负载电液位置伺服系统分析及仿真[J]. 机床与液压, 2007, 35 (8): 210-211, 242.
	FU Y L , ZHU C J . Heavy load electric and hydraulic position servo system analysis and simulation based on AMEsim[J]. Machine Tool & Hydraulics, 2007, 35 (8): 210-211, 242.
9	何星星, 廖瑛, 唐凯. 基于一体化建模技术的液压舵机动力学仿真分析[J]. 弹箭与制导学报, 2012, 32 (4): 9-12, 22. doi: 10.3969/j.issn.1673-9728.2012.04.003
	HE X X , LIAO Y , TANG K . Simulation analysis of hydraulic servo dynamics based on integrated modeling technology[J]. Journal of Projectiles, Arrows and Guidance, 2012, 32 (4): 9-12, 22. doi: 10.3969/j.issn.1673-9728.2012.04.003
10	SEBASTIAN A, THOMAS P, ALEX S. Servo design and analysis of thrust vector control of launch vehicle[C]//Proc. of the IEEE Innovations in Power and Advanced Computing Technologies, 2017.
11	WANG X , SUN Q . Consistency check of degradation mechanism between natural storage and enhancement test for missile servo system[J]. Journal of Systems Engineering and Electro-nics, 2019, 30 (2): 415- 424. doi: 10.21629/JSEE.2019.02.19
12	范天祥. 导弹伺服系统虚拟样机仿真与验证[D]. 哈尔滨: 哈尔滨工业大学, 2020.
	FAN T X. Simulation and verification of virtual prototype of missile servo system[D]. Harbin: Harbin Institute of Techno-logy, 2020.
13	ZHANG B , XU B , XIA C L , et al. Modeling and simulation on axial piston pump based on virtual prototype technology[J]. Chinese Journal of Mechanical Engineering, 2009, 22 (1): 84- 90. doi: 10.3901/CJME.2009.01.084
14	ZHEN Z , LIU C Y , ZHANG Y K , et al. The combined simulation of high-speed parallel manipulator based on Matlab, SolidWorks and ADAMS[J]. Applied Mechanics and Mate-rials, 2014, 716-717, 1578- 1581. doi: 10.4028/www.scientific.net/AMM.716-717.1578
15	WANG X R , SONG W , XUE T , et al. Dynamics analyses of rigid-flexible coupling of spot-welding robot[J]. Journal of Advanced Manufacturing Systems, 2020, 19 (4): 855- 867. doi: 10.1142/S0219686720500407
16	QIAO G , LIU G , SHI Z H , et al. A review of electromechanical actuators for more/all electric aircraft systems[J]. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2018, 232 (22): 4128- 4151. doi: 10.1177/0954406217749869
17	MAO P J , ZHANG F , ZHANG G Y . Data exchange method between ADAMS, CATIA and Solid Works software[J]. App-lied Mechanics and Materials, 2011, 143-144, 422- 427. doi: 10.4028/www.scientific.net/AMM.143-144.422
18	LI F , WANG K , MA C L , et al. Dynamic modeling and tracking control simulation for large electro-hydraulic servo system[J]. Applied Mechanics and Materials, 2013, 416-417, 811- 816. doi: 10.4028/www.scientific.net/AMM.416-417.811
19	MENG Y D, GAN H Y, YAN Y, et al. Research on a typical electro-hydraulic servo system simulation[C]//Proc. of the IEEE 5th Advanced Information Technology, Electronic and Automation Control Conference, 2021: 1325-1328.
20	LI C X, CHEN H B. Adaptive robust control for electro-hydraulic servo system of a projectile transfer arm[C]//Proc. of the 4th International Conference on Automation, Control and Robotics Engineering, 2019: 68.
21	NGUYEN M H , DAO H V , AHN K K . Active disturbance rejection control for position tracking of electro-hydraulic servo systems under modeling uncertainty and external load[J]. Actuators, 2021, 10 (2): 20. doi: 10.3390/act10020020
22	ZHU H L , MOK H S , LEE H G , et al. Controller design of BLDC motor fin position servo system by employing H-infinity loop shaping method[J]. The Transactions of the Korean Institute of Power Electronics, 2019, 24 (1): 49- 55.
23	SU S J , ZHU Y Y , LI C J , et al. Dual-valve parallel prediction control for an electro-hydraulic servo system[J]. Science Progress, 2020, 103 (1): 1- 21.
24	KISAKA M . Design of sensitivity function of multirate VCM control system[J]. Electrical Engineering in Japan, 2013, 185 (4): 53- 59. doi: 10.1002/eej.22296
25	YANG G C . Dual extended state observer-based backstepping control of electro-hydraulic servo systems with time-varying output constraints[J]. Transactions of the Institute of Mea-surement and Control, 2020, 42 (5): 1070- 1080.
26	CHENG C , LIU S Y , WU H Z . Sliding mode observer-based fractional-order proportional-integral-derivative sliding mode control for electro-hydraulic servo systems[J]. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2020, 234 (10): 1887- 1898.
27	MENG Z W , ZHANG T Z , ZHANG H X , et al. Energy management strategy for an electromechanical-hydraulic coupled power electric vehicle considering the optimal speed threshold[J]. Energies, 2021, 14 (17): 5300.
28	BUENO B , STREET M , PFLUG T , et al. A co-simulation modelling approach for the assessment of a ventilated double-skin complex fenestration system coupled with a compact fan-coil unit[J]. Energy & Buildings, 2017, 151, 18- 27.
29	DAD C , TAVELLA J P , VIALLE S . Synthesis and feedback on the distribution and parallelization of FMI-CS-based co-simulations with the DACCOSIM platform[J]. Parallel Computing, 2021, 106, 102802.
30	NEGRI E , FUMAGALLI L , CIMINO C , et al. FMU-supported simulation for CPS digital twin[J]. Procedia Manufacturing, 2019, 28, 201- 206.

参数	数值	参数	数值
K_e	1.124	ω₀	386.900
T_v	0.009	ξ₀	0.100

[1]	高金艳, 汪路元, 潘忠石, 王虎妹. 火星维护与管理装置的MBSE架构建模[J]. 系统工程与电子技术, 2023, 45(5): 1441-1450.
[2]	焦洪臣, 雷勇, 张宏宇, 张国斌, 王耀东. 基于MBSE的航天器系统建模分析与设计研制方法探索[J]. 系统工程与电子技术, 2021, 43(9): 2516-2525.
[3]	华冰, 梁莹莹, 倪瑞. 基于改进因子图模型的航天器组合姿态确定算法[J]. 系统工程与电子技术, 2021, 43(8): 2273-2281.
[4]	孙雪, 黄志球, 沈国华, 王金永, 徐恒. 基于本体和BN的无人车行为决策方法[J]. 系统工程与电子技术, 2021, 43(2): 452-465.
[5]	陈凯柏, 高敏, 周晓东, 程呈. 调频连续波引信超宽带电磁脉冲前门耦合效应[J]. 系统工程与电子技术, 2020, 42(3): 528-535.
[6]	陈凯柏, 周晓东, 高敏, 范宇清. 毫米波引信射频前端UWB-HPM效应研究[J]. 系统工程与电子技术, 2020, 42(2): 284-291.
[7]	范宇清, 程二威, 魏明, 张庆龙, 陈亚洲. 高功率微波弹对GNSS接收机毁伤效果分析[J]. 系统工程与电子技术, 2020, 42(1): 37-44.
[8]	傅江良, 甘庆波, 张扬, 赵柯昕, 袁洪. 基于NTSM的航天器特征点凝视跟踪控制[J]. 系统工程与电子技术, 2019, 41(7): 1623-1632.
[9]	董朝阳, 马鸣宇, 王青, 周敏. 含有通信时滞的多航天器SO(3)姿态协同控制[J]. 系统工程与电子技术, 2018, 40(9): 2032-2039.
[10]	王建军, 向永清, 赵宁. 基于精益协同思想的航天器系统工程研制管理平台[J]. 系统工程与电子技术, 2018, 40(6): 1310-1317.
[11]	靳健, 陈伯翰. 载人航天器组合体CO2分压控制策略分析[J]. 系统工程与电子技术, 2018, 40(6): 1351-1357.
[12]	郭致远, 姚晓先, 张鑫. 鲁棒增益调度结构化火箭弹控制系统设计[J]. 系统工程与电子技术, 2018, 40(3): 615-622.
[13]	朱威, 马伟明, 阳习党, 肖欢. 基于鲁棒故障诊断LPV模型的舰载QUAV跟踪控制[J]. 系统工程与电子技术, 2018, 40(11): 2540-.
[14]	陈诚, 韦常柱, 琚啸哲, 刘鹏云. 基于滑模观测补偿的四旋翼飞行器鲁棒动态逆控制[J]. 系统工程与电子技术, 2018, 40(1): 119-126.
[15]	宋江鹏, 周荻, 孙广利. 基于扩张观测器的反射镜平台自适应鲁棒控制[J]. 系统工程与电子技术, 2017, 39(4): 876-882.