【作者】 齐潘国；

【导师】 韩俊伟；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2009， 博士

【摘要】 自主研制高级别飞行模拟器对促进我国航空事业的发展有重要意义。操纵负荷系统是飞行模拟器的关键系统之一,开发和研制具有高逼真度的操纵负荷系统是研制高级别模拟器的前提和基础。操纵负荷系统的力感模拟方法是指为了在模拟器上逼真的复现飞行员在驾驶真实飞机时的操纵力感所采用的伺服控制方法,对力感模拟方法的理论研究是研制高逼真度操纵负荷系统的基础。力感模拟方法是操纵负荷系统研制的关键技术之一,尤其是动态力感模拟方法及惯性补偿方法更是操纵负荷系统研制的难点。此外,研究操纵负荷系统的控制策略问题,能够充分发挥系统潜能,进一步提高力感模拟性能,对操纵负荷系统研制也有重要意义。因此,本文针对这几个方面内容对力感模拟方法进行深入研究。动态力感模拟问题是操纵负荷系统研究的重点及难点。本文以简单机械式飞机飞行操纵系统作为仿真对象,模拟该系统的操纵力感,把仿真对象简化为二阶动力学模型,其中包含惯性力、阻尼力及弹性力,那么研究的力感模拟方法均能实现动态力感的模拟。因此本课题以力感模拟方法研究为主线,动态力感模拟问题贯穿其中,即无论是三种基本的力感模拟方法,还是采用基于模型的前馈控制或鲁棒控制的力感模拟方法,都是以能够模拟动态力感为根本出发点,从而所研究的几种方法及得出的所有结论皆适用于动态力感模拟。操纵负荷系统有三种基本力感模拟方法分别是基于位置控制回路、基于速度控制回路及基于力控制回路的力感模拟方法,力感模拟原理、仿真模型推导、稳定性问题及关键设计参数及其设计原则是各种力感模拟方法的主要研究问题。首先,本文给出三种方法的系统结构并建立了全系统的数学模型,以此为基础,推导操纵力与操纵位移的关系,指出通过合理设计仿真模型,能够改变这种关系,从而实现模拟真实飞机的杆力-杆位移特性的目的,即阐明了各方法的力感模拟原理。然后,利用操纵负荷系统与仿真对象的操纵力-操纵位移特性的等价性,导出了各方法中的仿真模型的结构及参数表达式,并从工程实现的角度,对仿真模型进行了合理的简化。第三,仿真模型确定后,从内回路及外回路两个方面分析了各方法的稳定性问题,揭示了外回路的成因及影响外回路稳定性的因素,并给出了各种情况的内外回路的稳定性条件。最后,通过对力感模拟原理的分析、仿真模型的推导及稳定性问题分析,确定了操纵负荷系统的三个关键设计参数是负载质量、负载刚度及内回路带宽,并从动态性能、稳定性等方面给出的三个关键设计参数的设计原则。本文还对基本的三种力感模拟方法进行了仿真分析,初步验证了理论分析结论的正确性。在某些情况下,尤其是研制低成本的小型飞机飞行模拟器时,惯性补偿技术有重要的应用价值。本文在基于力回路系统的操纵负荷系统基础,把仿真模型中的模型质量取为负值,成功实现对负载惯性的补偿,即可用大负载惯量的系统来实现小惯性力感模拟,并给出惯性补偿的应用条件,还用实验验证此法的有效性。针对位置回路系统提出并设计了能提高稳定性的基于模型的前馈控制器。结合液压动力机构的实测频率特性设计了能提高稳定性的力反馈控制器。为了提高系统的鲁棒性能,提出了操纵负荷系统的两自由度鲁棒控制系统结构,并应用综合理论设计了鲁棒控制器。本文用实验证明上述控制策略的有效性。最后在所研制的操纵负荷系统试验台上,进行了各种情况的稳定性实验、阶跃响应特性实验、频率特性测试及多余力验证实验,全面验证了本文的理论分析结论的正确性及所设计的控制器的有效性。更多还原

【Abstract】 It’s very important for the aviation cause of our country to independently manufacture high level FS (Flight Simulator). CLS (Control Loading System) is one of the essential subsystems of FS, so high fidelity CLS is the presupposition for manufacturing high level FS. The method for fore-feel cueing applied to CLS, which is the theoretical foundation for developing high fidelity CLS, refer to a kind of servo control means by which the forces is provided to control lever of FS realistically replicating the forces that the pilot experiences during flight.Force feel simulation method is one of the vital techniques of CLS and, further, the dynamic force simulation and inertia compensation are the difficulty of CLS especially. In addition, The study of control strategy is very significant to CLS, by which the potential of CLS could be exerted sufficiently and the fidelity of force feel simulation could be further increased. Thereby, those issues of force feel simulation method, dynamic force replication, inertia compensation and control strategy of CLS are discussed in this thesis.The technique of dynamic force replication is very important to CLS and difficult to put in practice. The method studied in this thesis could simulate dynamic force feel, because the simulated object, which is a simple mechanical FCS (Flight Control System), is represented with a second order mass-spring model involved dynamic force such as inertia force and damping force. Consequently, the core of this subject is to study the method of force-feel cueing, but not only the three of main force-feel cueing method but the feedforward one or the robust control one could all be competent for dynamic force replication.The three of main force-feel cueing method of CLS are position-loop, velocity-loop and force-loop based control loading architectures, and the main issues of those methods are the principle of force-feel cueing, simulation model structure, stability problem and the vital parameters and its design requirement. At first, the three of control loading architectures are presented and the mathematic models of CLS are built up. Then the relation between the pilot force and the control motions is derived out from those models, which illuminated the principle of force-feel cueing, that is the relation could be adjusted by modifying simulation model, which results that the control motions and the pilot force inputs in the simulator could be the same as in flight. Then, making use of the equivalence relation between simulator and airplane, the simulation model is achieved, which is reasonably simplified for the sake of engineering implement. Third, stability of the inner loop and the outer loop is analyzed in all kind of CLS, which not only illuminates how the outer loop comes into being but opens out stability factors of the outer loop, and the stability conditions are put forward. At last, after analyzing force-feel cueing principle, developing the simulation model and discussing stability issues, three vital design parameters are pointed out, which are load inertia, load stiffness and band width of the inner loop. The design requirements of those parameters are brought out according to dynamic performance and stability of CLS also. To preliminarily prove those analysis conclusions, computer simulation of the three of force-feel cueing method is performed by a simulation model of CLS established in this thesis.The inertia compensation technique is very important to CLS in some case, especially when to develop low cost simulator of light airplane. A new inertia compensation method is developed in this thesis, that is, in the force-loop based CLS, the parameter of the simulation model inertia is evaluated to a negative value, and then the inertia of CLS could be compensated successfully. Using the method, smaller inertia force-feel could be replicated with a bigger load inertia CLS. The application condition of the inertia compensation is put forward also, and experiment results show that the method is effective.A model-based feedforward controller, which could enhance stability, are designed and applied to position-loop based CLS. In addition, according to the frequency characteristics test result of the servo mechanism, a force feedback controller to enhance stability is designed also. To improve the robust performance of CLS, A two dof robust control system architecture is put forward, and a robust controller is obtained using synthesis theory. Experiment results show that all the controllers designed in this thesis are effective.At last, the stability test, the step response test, the frequency response test and the superfluous force test are carred out on the CLS developed in this thesis, which prove out the analysis conclusion and validate all the designed controllers.更多还原