Contraposing the coupling of the electro-hydraulic load simulator of fin stabilizer between loading system and the driving system of fin stabilizer,a feed-forward compensation decoupling controller to eliminate surplus force was designed.
The second part, carried on the no-disturbance simulation and disturbance simulation, designed adjustment link with feed-forward compensation and PID control, analyzed the generation of surplus force, completed the computation of force target and system configuration with VB. The third part, constructed Client hardware circuit, established DSP minimum system, analog sampling channel, D/A switching circuit, CPLD interface circuit, RS232 interface circuit.
The analysis to system indicates that the large variation of the object parameters, redundant force, deformation of the specimen and the disturbance caused by the frictional moment are four major factors influencing the control accuracy.
Analysis and simulation results show that double valves feedback compensation control can be effective to compensate the redundant force of the load system, greatly improve the robust and trace performance, and ideally depress the redundant force of fin stabilizer load system.
The main technology issues are deeply researched, such as the analysis and adjustment of the system, the analysis and restraint of the redundant force, and the harmony control of the multi-channel phase.
The large range variation of controled object paramet er s,redundant force,the disturbance caused by test specimen torsion deformation an d friction moment is the major factors to have an effect on conrtol accuracy of Test Facility system.
Through the comparison with experimental loading curves of loading system controlled by P-Q servo-valve and flow servo-valve respectively,it is indicated that the former can effectively eliminate superfluous force.
Compared with the experimental curves of dual-valve parallel connected control and single flow servo valve control, it is indicated that the former can more effectively eliminate superfluous force and improve dynamic load performance index than the latter when the rudder system starts, stops and changes direction.
The mathematic model of electro-hydraulic load simulator controled by single flow valve and double valve composed by flow valve and P-Q servo valve was set up,the simulation and experimental study on eliminating superfluous force was finished to improve the control precision.
Based on the hydraulic control, this article studies the extra force turbulence caused by load-flow and points out that its influence to compound electro-hydraulic servo force-loading system can be neglected in the main on the simulant force-loading for tractor plough depth resistance-adjusting system.
To obtain the stiffness matrix of the hybrid element, this approach involves the combined use of the redundant force method together with the displacement field results arising from the finite element alternating technique (FEAT).