变刚度电液力加载系统性能研究

针对海洋船舶拖曳系统半实物仿真的需要，设计了以钢丝绳为力传递介质的电液力加载系统。建立了力加载系统的数学模型，通过试验得出了钢丝绳刚度与加载力的对应关系式；分析了钢丝绳刚度对系统性能、控制器设计的影响，得出钢丝绳刚度减小会导致力加载系统频宽减小、滞后增大的结论。基于此设计了变增益前馈补偿控制器。试验结果表明，该方法提高了系统加载力跟踪精度。

Investigation of Electro-Hydraulic Loading System with Variable Stiffness

An electro-hydraulic loading system, conveying force by wire-rope, was designed to meet the requirements of  hardware-in-the-loop simulations of the towing system in the marine vessel. A mathematical model of the electro-hydraulic loading system was presented herein. The relationship expression between the wire-rope stiffness and the  loading force was derived from the results of experiments. Through the analysis of the effect of the wire-rope stiffness on the performance of the loading system and the design of the controller, it is concluded that the frequency width minifies and hysteresis increases with the wire-rope stiffness decreases. Then a variable gain feed-forward compensation controller was designed. Experimental results show that this method can improve force tracking accuracy of the system. The paper provides a theoretical basis for high performance electric hydraulic loading system controller design with variable stiffnesses.