目录
8 S7 T- H5 B+ o" [& x8 J第一章绪论.............................................................................................................1
' P0 v1 _. M$ o, d5 D1.1线控制动系统概述......................................................................................1
* c. ?7 f1 K+ R3 r B) `1.1.1线控制动的研究背景.......................................................................1
$ B f5 X0 E0 ^+ Q& u1.1.2 EMB的组成及工作原理...................................................................2! f9 `4 ~& H' u( K- I$ s
1.1.3 EMB的优势.......................................................................................4; O7 h+ M" C" a
1.2 EMB发展概述.............................................................................................5 J& Y0 m/ F5 @5 `' x
1.2.1 EMB的历史及现状...........................................................................5" d7 B& Q1 h( H+ g
1.2.2 EMB未来研究方向...........................................................................6
" {: V/ v) V: w1 ]2 U" n1.3 EMB执行器的典型结构.............................................................................79 R3 V) v6 Q+ J% a
1.4 EMB硬件在环技术简介...........................................................................10. b: P" ^8 g' A- u7 a+ L3 V
1.5论文研究内容...........................................................................................118 {, J3 m$ K0 n% t) e
第二章EMB执行器研究.......................................................................................130 f8 b% b7 N/ i5 @) O d; Z1 I
2.1 EMB执行器总体设计要求.......................................................................13
% c8 [: l5 e4 ]5 P2.2 EMB执行器的结构及工作原理...............................................................14
# v7 F4 F+ b+ \$ [# X- Q4 I$ O' U% Y2.2.1电机.................................................................................................154 Q! e9 }7 @+ c1 e- k, v8 f
2.2.2运动转换装置.................................................................................16' D. h* @: m# a4 `' ^
2.2.3减速装置.........................................................................................176 `% I4 }! \; L1 p' {1 a/ _( ?$ Z0 e
2.3 EMB执行器结构方案的确定...................................................................20
' l0 n5 X! o. W% w8 r3 Z2.3.1方案一.............................................................................................20
5 K( a0 _, {2 |/ r. ^; C' y2.3.2方案二.............................................................................................22* w6 d6 ]7 z0 |$ d B: _) q" f5 B* u
2.3.3方案三.............................................................................................23
M& V4 C4 J. G2.4 EMB执行器设计计算方法.......................................................................24
. V* B2 F( _2 T- W2 X4 u' s3 z2.4.1滚珠丝杠选型及校核计算.............................................................24
7 C. H1 c- a, ]' A/ X6 h7 c2.4.2行星齿轮设计及校核计算.............................................................29
5 ~' g l* r C* `2.5 EMB执行器的研制...................................................................................352 ~) r, P) F- h3 f
2.6本章小结...................................................................................................37
2 |4 X* R5 j) x& d$ u第三章EMB执行器仿真模型研究.......................................................................39
1 X/ _6 S7 z2 j3.1 EMB数学模型的建立...............................................................................39
) U6 `8 h2 A8 n5 X9 O3.1.1无刷直流电机模型.........................................................................404 C9 @& k( g1 u6 t( ]; _8 C
3.1.2通用电机模型.................................................................................42
/ k; }9 \9 r3 e/ _7 `3 t, C3.1.3传动机构及负载模型.....................................................................43
" W F5 d. X# O' q& E% |7 M3.1.4制动器模型.....................................................................................44
; s: B+ f9 D1 o+ P4 ^6 K) n3.2 EMB离线仿真模块...................................................................................44# H0 X" s: I# A! E/ O
3.2.1无刷直流电机模块.........................................................................447 J1 ?1 j8 J; A6 g
I林大学硕士学位论文
0 m( d4 m, ~" V# v* P9 \. ]3.2.2通用电机模块.................................................................................47
z* S6 O; `/ R3.2.3传动及制动器模块.........................................................................47
1 h( b8 i( |6 c1 `/ \% b* J7 j3.2.4电机控制系统模块.........................................................................48
j2 w- A% O4 T) k9 }, d. R3.3本章小结...................................................................................................49! j: e( @" n) |- [7 V0 P% z
第四章EMB执行器的控制及仿真研究...............................................................51
8 E G3 g" Y" Q7 a5 S- W! |" u4.1直流电机特性及其调速...........................................................................51" h& w( N' I! c! A
4.1.1直流电机速度—转矩特性.............................................................51
0 `4 n3 B% u% a( M& `3 ^4.1.2直流电机双闭环调速系统.............................................................53( \" R" X& a \/ [
4.2 EMB电机控制系统设计...........................................................................54
1 S$ T8 ?, U* P3 [1 v s4.2.1 EMB控制系统的结构.....................................................................54
9 r, D7 s! F& [( b3 s; D$ d4.2.2 EMB控制系统PI控制算法.............................................................55( Y( f ^1 G6 k% I! o. U
4.2.3 EMB控制系统响应特性要求.........................................................56
0 q: O' @, r3 B3 ]1 h4.3 EMB执行器仿真分析...............................................................................57% l2 G; \/ B6 r! t; V7 Y9 q1 S
4.3.1 EMB执行器的仿真参数.................................................................57
) I7 Z+ a. ~& R4.3.2通用电机仿真分析.........................................................................57. y% j: t% x- H7 F* S1 R
4.3.3无刷直流电机仿真分析.................................................................60
; X* o! X4 q9 `- c4.4本章小结...................................................................................................64. Y5 J5 X# j" z; O1 b6 J3 T
第五章EMB硬件在环试验台及试验研究...........................................................65. w6 X/ c' P0 A2 b! k" W
5.1 EMB硬件在环试验台的总体方案...........................................................65
: V8 z* K) c3 w( j# W8 `5.2 EMB硬件在环试验台的研制...................................................................66 r% ?; Q2 F6 ?: N
5.2.1实时平台.........................................................................................67$ |3 e( y/ P. p4 y: y
5.2.2硬件部分.........................................................................................68, p$ K8 F/ `3 v
5.2.3软件部分.........................................................................................70
* q0 D" h {7 z- s, B. U" p/ g5.3 EMB执行器性能试验研究.......................................................................71
; {+ d J+ t/ T m# t( D5 o1 b5.3.1电机速度特性.................................................................................71
' Z9 L7 C2 h7 i5.3.2 EMB执行器试验结果及分析.........................................................720 U6 V' [, ~5 I8 r" [
5.3.3 EMB执行器夹紧力估算.................................................................72
5 Q1 C2 k$ P+ M9 s: O x) A; ~! L, k. z6 P5.4本章小结...................................................................................................76" J$ e# M) E# F( s8 C" O1 D
第六章全文总结与展望.......................................................................................77
* u: j. s1 z8 r B6 l I- M X2 K6.1结论...........................................................................................................77* F$ n1 e/ [. |( a9 F8 y( t% f
6.2展望...........................................................................................................78 |