7 research outputs found
Contribution to designing theory for the actuator for rocket motor thrust vector control by flexible nozzle
ΠΡΠΎΡΠ΅ΠΊΡΠΎΠ²Π°ΡΠ΅ Π°ΠΊΡΡΠ°ΡΠΈΠΎΠ½ΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ°, ΠΏΠΎΡΠ΅Π±Π½ΠΎ Π΅Π»Π΅ΠΊΡΡΠΎ Ρ
ΠΈΠ΄ΡΠ°ΡΠ»ΠΈΡΠ½ΠΈΡ
, ΠΏΡΠ΅Π΄ΠΌΠ΅Ρ ΡΠ΅
ΠΎΠ±ΠΈΠΌΠ½ΠΈΡ
ΠΈΡΡΡΠ°ΠΆΠΈΠ²Π°ΡΠ° Π²Π΅Ρ Π΄ΡΠ³ΠΈ Π½ΠΈΠ· Π³ΠΎΠ΄ΠΈΠ½Π°, ΠΌΠΎΠΆΠ΅ ΡΠ΅ ΡΠ΅ΡΠΈ Π³ΠΎΡΠΎΠ²ΠΎ Π²Π΅Ρ 70 Π³ΠΎΠ΄ΠΈΠ½Π°,
ΠΊΠ°Π΄Π° ΡΠ΅ ΠΏΠΎΡΠ΅ΠΎ ΡΠ°Π·Π²ΠΎΡ ΠΎΠ²Π΅ ΠΎΠ±Π»Π°ΡΡΠΈ ΡΠ΅Ρ
Π½ΠΈΠΊΠ΅ Π·Π° ΠΏΠΎΡΡΠ΅Π±Π΅ Π²ΠΎΡΠ½ΠΎΠ³ Π²Π°Π·Π΄ΡΡ
ΠΎΠΏΠ»ΠΎΠ²ΡΡΠ²Π° Π½Π°
ΠΊΡΠ°ΡΡ ΠΡΡΠ³ΠΎΠ³ ΡΠ²Π΅ΡΡΠΊΠΎΠ³ ΡΠ°ΡΠ°. ΠΡΡΡΠ°ΠΆΠΈΠ²Π°ΡΠ° ΡΡ ΠΏΠΎΡΠ΅Π±Π½ΠΎ ΠΈΠ½ΡΠ΅Π·ΠΈΠ²Π½Π° ΠΎΠ΄ ΠΏΠΎΡΠ΅ΡΠΊΠ°
ΡΠΈΡΠΎΠΊΠ΅ ΡΠΏΠΎΡΡΠ΅Π±Π΅ ΡΠ°ΡΡΠ½Π°ΡΠ°, ΠΊΠ°Π΄Π° ΡΡ ΡΠ΅ ΡΡΠ²ΠΎΡΠΈΠ»ΠΈ ΡΡΠ»ΠΎΠ²ΠΈ Π·Π° ΠΈΠΌΠΏΠ»Π΅ΠΌΠ΅Π½ΡΠ°ΡΠΈΡΡ
ΡΠ»ΠΎΠΆΠ΅Π½ΠΈΡ
ΠΌΠ°ΡΠ΅ΠΌΠ°ΡΠΈΡΠΊΠΈΡ
ΡΠΎΡΠΌΠΈ Π°Π»Π³ΠΎΡΠΈΡΠ°ΠΌΠ° ΡΠΏΡΠ°Π²ΡΠ°ΡΠ°. Π’Π°Π΄Π° ΡΡ ΡΡΠ²ΠΎΡΠ΅Π½ΠΈ ΡΡΠ»ΠΎΠ²ΠΈ
Π·Π° ΠΈΠΌΠΏΠ»Π΅ΠΌΠ΅Π½ΡΠ°ΡΠΈΡΡ ΠΏΠΎΡΡΠΎΡΠ΅ΡΠΈΡ
Π°Π»Π³ΠΎΡΠΈΡΠ°ΠΌΠ° ΡΠΏΡΠ°Π²ΡΠ°ΡΠ° ΡΠ° ΠΏΡΠ΅ΡΡ
ΠΎΠ΄Π½ΠΈΠΌ ΠΈΡΠΊΡΡΡΠ²ΠΎΠΌ Ρ
ΠΎΠΊΠ²ΠΈΡΡ Π°Π½Π°Π»ΠΎΠ³Π½Π΅ ΡΠ΅Ρ
Π½ΠΈΠΊΠ΅ ΠΈ ΡΠ°Π·Π²ΠΎΡΠ° Π²Π΅Π»ΠΈΠΊΠΎΠ³ Π±ΡΠΎΡΠ° Π΄ΠΎΠ΄Π°ΡΠ½ΠΈΡ
Π°Π»Π³ΠΎΡΠΈΡΠ°ΠΌΡΠΊΠΈΡ
ΡΠ΅ΡΠ΅ΡΠ°.
Π£ ΠΎΠ²ΠΎΠΌ ΡΠ°Π΄Ρ ΡΠ΅ ΡΠ°Π·Π²ΠΈΡΠ΅Π½Π° ΡΠΏΠ΅ΡΠΈΡΠΈΡΠ½Π° ΠΌΠ΅ΡΠΎΠ΄ΠΎΠ»ΠΎΠ³ΠΈΡΠ° ΠΈΠ½ΠΆΠ΅ΡΠ΅ΡΡΠΊΠΎΠ³ Π΄ΠΈΠ·Π°ΡΠ½Π°
Π°ΠΊΡΡΠ°ΡΠΎΡΠ° Π·Π° ΡΠΏΡΠ°Π²ΡΠ°ΡΠ΅ Π²Π΅ΠΊΡΠΎΡΠΎΠΌ ΠΏΠΎΡΠΈΡΠΊΠ° ΡΠ°ΠΊΠ΅ΡΠ½ΠΎΠ³ ΠΌΠΎΡΠΎΡΠ° ΡΠ° ΡΠ»Π΅ΠΊΡΠΈΠ±ΠΈΠ»Π½ΠΈΠΌ
ΠΌΠ»Π°Π·Π½ΠΈΠΊΠΎΠΌ Π½Π° ΠΎΡΠ½ΠΎΠ²Ρ ΡΠ΅ΠΎΡΠΈΡΡΠΊΠΈΡ
Π°Π½Π°Π»ΠΈΠ·Π°, ΡΠ° Π΅Π»Π΅ΠΌΠ΅Π½ΡΠΈΠΌΠ° Π°ΠΊΡΠΈΠΎΠΌΠ°ΡΡΠΊΠΎΠ³ ΠΏΡΠΈΡΡΡΠΏΠ°,
ΠΊΠΎΡΠ° ΡΡΠ΅Π±Π° Π΄Π° ΠΎΠ»Π°ΠΊΡΠ°Π²Π° ΡΠ°Π΄ ΠΏΡΠΎΡΠ΅ΠΊΡΠ°Π½ΡΡ ΠΎΠ²Π΅ ΠΊΠ»Π°ΡΠ΅ Π°ΠΊΡΡΠ°ΡΠΈΠΎΠ½ΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ°. Π Π΅Π·ΡΠ»ΡΠ°Ρ
ΠΎΠ±ΠΈΠΌΠ½Π΅ ΡΠΈΡΡΠ΅ΠΌΠ°ΡΠΈΠ·Π°ΡΠΈΡΠ΅ ΡΠ΅ ΠΏΡΠΈΠΏΡΠ΅ΠΌΠ° ΡΠ΅ΠΎΡΠΈΡΡΠΊΠ΅ ΠΎΡΠ½ΠΎΠ²Π΅ Π΄Π° ΡΠ΅ ΠΏΠΎΡΠ΅Π±Π½ΠΎ ΠΌΠΎΠΆΠ΅
ΡΠ°Π·ΠΌΠ°ΡΡΠ°ΡΠΈ ΡΠ»Π΅ΠΊΡΠΈΠ±ΠΈΠ»Π½ΠΈ ΠΌΠ»Π°Π·Π½ΠΈΠΊ ΠΊΠ°ΠΎ ΡΠΏΠ΅ΡΠΈΡΠΈΡΠ½Π° Π²ΡΡΡΠ° ΡΡΡΡΠΊΡΡΡΠ½ΠΎΠ³ ΠΎΠΏΡΠ΅ΡΠ΅ΡΠ΅ΡΠ°
Π°ΠΊΡΡΠ°ΡΠΎΡΠ°, ΡΠ° Π΅Π»Π΅ΠΌΠ΅Π½ΡΠΈΠΌΠ° ΠΏΠΎΠ·ΠΈΡΠΈΠΎΠ½ΠΎΠ³ ΠΈ ΠΈΠ½Π΅ΡΡΠΈΡΠ°Π»Π½ΠΎΠ³ ΠΎΠΏΡΠ΅ΡΠ΅ΡΠ΅ΡΠ°. Π£ ΠΎΠΊΠ²ΠΈΡΡ
ΠΈΡΡΡΠ°ΠΆΠΈΠ²Π°ΡΠΊΠΎΠ³ ΡΠ°Π΄Π° Ρ ΡΠ΅Π·ΠΈ, ΡΡΠΊΡΠ΅ΡΠΈΠ²Π½ΠΎ ΡΠ΅ ΡΠ°Π·ΠΌΠ°ΡΡΠ° ΠΎΠΏΠΈΡ Π΅Π»Π°ΡΡΠΈΡΠ½ΠΎΠ³ ΠΎΠΏΡΠ΅ΡΠ΅ΡΠ΅ΡΠ°,
ΠΈΠ·Π±ΠΎΡ ΠΊΠΎΠ½ΡΠΈΠ³ΡΡΠ°ΡΠΈΡΠ΅ Π΅Π»Π΅ΠΊΡΡΠΎ Ρ
ΠΈΠ΄ΡΠ°ΡΠ»ΠΈΡΠ½ΠΎΠ³ Π°ΠΊΡΡΠ°ΡΠΎΡΠ°, Π±Π°Π·Π½ΠΈ Π»ΠΈΠ½Π΅Π°ΡΠ½ΠΈ ΠΈ
Π½Π΅Π»ΠΈΠ½Π΅Π°ΡΠ½ΠΈ ΠΌΠ°ΡΠ΅ΠΌΠ°ΡΠΈΡΠΊΠΈ ΠΌΠΎΠ΄Π΅Π»ΠΈ, ΠΊΡΠΈΡΠ΅ΡΠΈΡΡΠΌΠΈ Π·Π° ΠΈΠ·Π±ΠΎΡ Π°Π»Π³ΠΎΡΠΈΡΠ°ΠΌΠ° ΡΠΏΡΠ°Π²ΡΠ°ΡΠ° ΠΈ
ΠΏΡΠΎΡΠ΅ΡΡΡΠ΅ ΡΠ΅ ΡΡΠ²Π°ΡΠ½ΠΈ ΠΏΡΠΎΠ±Π»Π΅ΠΌ Π½Π΅ΠΌΠΎΠ΄Π΅Π»ΠΎΠ²Π°Π½Π΅ Π΄ΠΈΠ½Π°ΠΌΠΈΠΊΠ΅ Π°ΠΊΡΡΠ°ΡΠΈΠΎΠ½ΠΎΠ³ ΡΠΈΡΡΠ΅ΠΌΠ°.
ΠΡΠΎΠ· ΠΏΡΠ΅ΡΡ
ΠΎΠ΄Π½Ρ ΡΠ΅ΠΎΡΠΈΡΡΠΊΡ Π°Π½Π°Π»ΠΈΠ·Ρ, ΡΠΈΠ½ΡΠ΅ΡΠΈΡΠΈΠ·ΠΎΠ²Π°Π½ ΡΠ΅ Π°Π»Π³ΠΎΡΠΈΡΠ°ΠΌ ΡΠΏΡΠ°Π²ΡΠ°ΡΠ° Π½Π°
ΠΎΡΠ½ΠΎΠ²Ρ off-line ΠΈΠ΄Π΅Π½ΡΠΈΡΠΈΠΊΠ°ΡΠΈΡΠ΅, ΠΊΠΎΡΠΈ ΡΠ΅ ΠΏΡΠΎΠ²Π΅ΡΠ΅Π½ Π½Π° ΡΠΈΠΌΡΠ»Π°ΡΠΎΡΡ ΠΎΠΏΡΠ΅ΡΠ΅ΡΠ΅ΡΠ° ΡΠ°
ΡΠ΅Π°Π»Π½ΠΈΠΌ Π΅Π»Π΅ΠΊΡΡΠΎ Ρ
ΠΈΠ΄ΡΠ°ΡΠ»ΠΈΡΠ½ΠΈΠΌ Π°ΠΊΡΡΠ°ΡΠΎΡΠΎΠΌ ΠΈ Π΄Π΅ΡΠΈΠ½ΠΈΡΠ°Π½Π° ΡΠ΅ ΠΊΠΎΠ½ΡΠΈΠ³ΡΡΠ°ΡΠΈΡΠ°
Π΅Π»Π΅ΠΊΡΡΠΎ Ρ
ΠΈΠ΄ΡΠ°ΡΠ»ΠΈΡΠ½ΠΎΠ³ Π°ΠΊΡΡΠ°ΡΠΎΡΠ° ΠΊΠΎΡΠ° ΡΠ΅ΡΠ°Π²Π° ΠΏΡΠΎΠ±Π»Π΅ΠΌ Π·Π°ΠΊΡΠ΅ΡΠ°ΡΠ° ΠΌΠ»Π°Π·Π½ΠΈΠΊΠ° ΠΎΠΊΠΎ
ΡΠ°ΡΠΊΠ΅ Π²Π΅Π·Π΅ ΡΠ° Π°ΠΊΡΡΠ°ΡΠΎΡΠΎΠΌ ΠΏΠΎΡΠ»Π΅ Π°ΠΊΡΠΈΡΠ°Π»Π½ΠΎΠ³ ΠΏΠΎΠΌΠ΅ΡΠ°ΡΠ° ΡΠ»Π΅ΠΊΡΠΈΠ±ΠΈΠ»Π½Π΅ Π²Π΅Π·Π΅ Π½Π° ΠΏΠΎΡΠ΅ΡΠΊΡ
ΡΠ°Π΄Π° ΡΠ°ΠΊΠ΅ΡΠ½ΠΎΠ³ ΠΌΠΎΡΠΎΡΠ°.Design of actuation systems, especially electro hydraulics systems, has been subject of
research in the past decades, we can say almost for 70 years, when started the
development of this field of technology to the needs of military aviation at the end of
the Second World War. Research has particularly intense since the beginning of the
widespread use of computers, when they created the conditions for the implementation
of complex mathematical algorithms form. Then they created the conditions for the
implementation of the existing control algorithms with previous experience within the
analogue techniques and the development of a large number of additional algorithmic
solutions.
In this thesis we developed a specific methodology for the engineering design of the
actuator for thrust vector control of rocket engine with flexible nozzle based on
theoretic analysis with elements of the axiomatic approach, which should facilitate the
work of the designer of this class of actuating systems. The result of extensive
systematization is prepared theoretical basis for consideration of the flexible nozzle as a
specific type of structural load of actuators, with elements of positioning type and
inertial type loads. Within the research work in the thesis, the focus is the description of
elastic load, selection of the configuration of the electro hydraulic actuators, basic linear
and nonlinear mathematical models, criteria for the selection of control algorithms and
assesses the actual problem of non-modeled dynamics actuating systems.
With previous theoretical analysis, the control algorithm has been synthesized based on
off-line identification, which is checked in the simulator with real electro hydraulic
actuator and is defined the configuration of electro hydraulic actuator that solves the
problem of nozzle swivel around point of connection with an actuator after the axial
displacement of flexible connections at rocket motor starting phase
Different modeling technologies of hydraulic load simulator for thrust vector control actuator
Hydraulic simulators are extremely important in the flight control actuator system's verification process. Flexible nozzle has a number of specifics, comparing to other flight controls, because the load cannot be described, classically, by the hinge moment. Additionally, classical hydraulic simulator, in which the cylinder simulates the load, is not sufficient for performing a complete simulation of the real load. Building a mechanical pendulum, to which a hydraulic cylinder acts, and that rests on two elastic supports, enables simulation of additional phenomena that exist in flexible nozzle, but not in other control surfaces. Force from impulse that exists in reality, and which is impossible to be generated by standard hydraulic simulator, can be realized through the pendulum. This paper demonstrates that a simulator can be designed through modelling of the elastic load using bond graph, without a precise elaboration of direction of forces in elastic structure, just by observing, on energy level, the input of force in flexible structure over the point in which actuator force acts. Simulator with hydraulic cylinder is convenient to be used when there is a need for considering the risk of self-oscillation of flexible joint and nozzle, i.e. for defining the so-called notch filter. Then, the hydraulic cylinder of load simulator can generate the oscillation, frequency and amplitude that match this dynamic case of flexible nozzle actuator's load that is being reduced to its piston rod, without a risk of damaging the flexible structure that exists in the construction of a simulator with pendulum
Design criterion to select adequate control algorithm for electro-hydraulic actuator applied to rocket engine flexible nozzle thrust vector control under specific load
Rad razmatra problematiku kako na najbolji naΔin izabrati algoritam upravljanja za elektro- hidrauliΔni aktuator sa definisanim optereΔenjem. Polazi se od pretpostavke idealnog algoritma upravljanja koji se prilagoΔava stvarnoj konfiguraciji elektrohidrauliΔnog aktuatora i definisanom optereΔenju. Razmatra se netipiΔno fleksibilno optereΔenje, viskozoelastiΔno, sa znatnim histerezisom koji dodatno zavisi od vremena odnosno temperature. PredlaΕΎu se dva naΔina modelovanja optereΔenja i prikazuje se koliko opcije modelovanja optereΔenja utiΔu na stvarni odziv aktuatorskog sistema. U razmatranom sluΔaju glavni poremeΔaj je spoljna sila prouzrokovana realnim oscilacijama sile potiska.The paper presents the challenge of finding the best criterion in selecting adequate control algorithm for electro-hydraulic actuator with a defined load. The ideal control algorithm that adapts to the actual configuration of electro-hydraulic actuator and defined load is used as an initial assumption. Atypical flexible load that is viscose-elastic, with a significant level of hysteresis that also depends on time and temperature is considered as well. Two types of load modeling approaches are proposed, accompanied by presentation on how load modeling options affect the actual response of an actuator system. The main disturbance, in this case, is considered to be external force generated by thrust force real oscillations
Measurement of the direct damping derivative in roll of the two calibration missile models
U ovom radu opisano je merenje priguΕ‘nog derivativa stabilnosti u valjanju u aerotunelu T- 38. Prikazani su rezultati dobijeni na dva kalibraciona modela: Basic Finner Model i Modified Basic Finner Model. UreΔaj za merenje derivativa stabilnosti je ureΔaj sa prinudnim oscilacijama modela i to sa primarnim oscilatornim kretanjem u ravni valjanja. Pobudni moment u valjanju meren je petokomponentnom aerovagom sa mernim trakama. Ova aerovaga je projektovana i izraΔena za dinamiΔka aerotunelska merenja. Amplitude i fazni stavovi pobudnog momenta odreΔeni su u frekventnom domenu primenom kros-korelacione metode. Rezultati dobijeni u aerotunelu T-38 uporeΔeni su sa objavljenim eksperimentalnim rezultatima dobijenim u Arnold Engineering Development Center-von Karman 4ft aerotunelu.Measurement of the direct damping derivative in roll in the T-38 wind tunnel is described in this paper. The T-38 wind tunnel data for the Basic Finner Model and Modified Basic Finner model are shown. The forced oscillation technique was used for these measurements. The roll apparatus for the stability derivatives measurement is a full-model forced oscillation apparatus with primary angular oscillation around a longitudinal axis of the model. The excitation moment in roll was measured with the five- component strain gauge balance. This balance was designed and built for the wind tunnel dynamic measurements. The amplitudes and phase shifts of the excitation moment were calculated in frequency domain by applying cross-correlation technique. The T-38 wind tunnel results are compared with published experimental results of the Arnold Engineering Development Center-von Karman 4ft wind tunnel
Different modeling technologies of hydraulic load simulator for thrust vector control actuator
HidrauliΔki simulatori su posebice vaΕΎni u procesu verifikacije aktuacijskog sustava za kontrolu leta. Fleksibilni mlaznik ima niz specifiΔnosti u odnosu na druge komande leta, jer se optereΔenje ne moΕΎe opisati na klasiΔan naΔin preko zglobnog momenta. Pored toga, klasiΔan hidrauliΔki simulator, na bazi cilindra koji simulira optereΔenje, nije dovoljan za potpunu simulaciju realnog optereΔenja. Potrebno je napraviti mehaniΔko njihalo na koje deluje hidrauliΔki cilindar i koje se oslanja na dva elastiΔna oslonca kako bi se mogle simulirati i dopunske pojave koje postoje kod fleksibilnog mlaznika, a koji ne postoje kod drugih upravljaΔkih povrΕ‘ina. Preko njihala se moΕΎe zadati impulsna sila koja postoji u realnosti, a koju nije moguΔe generirati standardnim hidrauliΔkim simulatorom. U Δlanku se pokazuje da se modeliranjem elastiΔnog optereΔenja preko bond grafova simulator moΕΎe projektirati bez preciznog razmatranja smjerova i pravaca sila u elastiΔnoj strukturi, veΔ se samo energetski promatra unoΕ‘enje sile u fleksibilnu strukturu preko mjesta djelovanja aktuacijske sile. Simulator s hidrauliΔkim cilindrom je pogodan u sluΔaju kad treba razmotriti rizik od vlastitih vibracija fleksibilne veze i mlaznika, to jest definirati takozvani notch filter. Tada hidrauliΔki cilindar simulatora optereΔenja moΕΎe generirati oscilatorno gibanje, frekvenciju i amplitudu koje odgovaraju ovom dinamiΔkom sluΔaju optereΔenja aktuatora fleksibilnog mlaznika koje je svedeno na njegovu klipnjaΔu, a da ne postoji rizik oΕ‘teΔenja fleksibilne strukture koja postoji u konstrukciji simulatora s njihalom.Hydraulic simulators are extremely important in the flight control actuator systemβs verification process. Flexible nozzle has a number of specifics, comparing to other flight controls, because the load cannot be described, classically, by the hinge moment. Additionally, classical hydraulic simulator, in which the cylinder simulates the load, is not sufficient for performing a complete simulation of the real load. Building a mechanical pendulum, to which a hydraulic cylinder acts, and that rests on two elastic supports, enables simulation of additional phenomena that exist in flexible nozzle, but not in other control surfaces. Force from impulse that exists in reality, and which is impossible to be generated by standard hydraulic simulator, can be realized through the pendulum. This paper demonstrates that a simulator can be designed through modelling of the elastic load using bond graph, without a precise elaboration of direction of forces in elastic structure, just by observing, on energy level, the input of force in flexible structure over the point in which actuator force acts. Simulator with hydraulic cylinder is convenient to be used when there is a need for considering the risk of self-oscillation of flexible joint and nozzle, i.e. for defining the so-called notch filter. Then, the hydraulic cylinder of load simulator can generate the oscillation, frequency and amplitude that match this dynamic case of flexible nozzle actuatorβs load that is being reduced to its piston rod, without a risk of damaging the flexible structure that exists in the construction of a simulator with pendulum
Contribution to designing theory for the actuator for rocket motor thrust vector control by flexible nozzle
ΠΡΠΎΡΠ΅ΠΊΡΠΎΠ²Π°ΡΠ΅ Π°ΠΊΡΡΠ°ΡΠΈΠΎΠ½ΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ°, ΠΏΠΎΡΠ΅Π±Π½ΠΎ Π΅Π»Π΅ΠΊΡΡΠΎ Ρ
ΠΈΠ΄ΡΠ°ΡΠ»ΠΈΡΠ½ΠΈΡ
, ΠΏΡΠ΅Π΄ΠΌΠ΅Ρ ΡΠ΅
ΠΎΠ±ΠΈΠΌΠ½ΠΈΡ
ΠΈΡΡΡΠ°ΠΆΠΈΠ²Π°ΡΠ° Π²Π΅Ρ Π΄ΡΠ³ΠΈ Π½ΠΈΠ· Π³ΠΎΠ΄ΠΈΠ½Π°, ΠΌΠΎΠΆΠ΅ ΡΠ΅ ΡΠ΅ΡΠΈ Π³ΠΎΡΠΎΠ²ΠΎ Π²Π΅Ρ 70 Π³ΠΎΠ΄ΠΈΠ½Π°,
ΠΊΠ°Π΄Π° ΡΠ΅ ΠΏΠΎΡΠ΅ΠΎ ΡΠ°Π·Π²ΠΎΡ ΠΎΠ²Π΅ ΠΎΠ±Π»Π°ΡΡΠΈ ΡΠ΅Ρ
Π½ΠΈΠΊΠ΅ Π·Π° ΠΏΠΎΡΡΠ΅Π±Π΅ Π²ΠΎΡΠ½ΠΎΠ³ Π²Π°Π·Π΄ΡΡ
ΠΎΠΏΠ»ΠΎΠ²ΡΡΠ²Π° Π½Π°
ΠΊΡΠ°ΡΡ ΠΡΡΠ³ΠΎΠ³ ΡΠ²Π΅ΡΡΠΊΠΎΠ³ ΡΠ°ΡΠ°. ΠΡΡΡΠ°ΠΆΠΈΠ²Π°ΡΠ° ΡΡ ΠΏΠΎΡΠ΅Π±Π½ΠΎ ΠΈΠ½ΡΠ΅Π·ΠΈΠ²Π½Π° ΠΎΠ΄ ΠΏΠΎΡΠ΅ΡΠΊΠ°
ΡΠΈΡΠΎΠΊΠ΅ ΡΠΏΠΎΡΡΠ΅Π±Π΅ ΡΠ°ΡΡΠ½Π°ΡΠ°, ΠΊΠ°Π΄Π° ΡΡ ΡΠ΅ ΡΡΠ²ΠΎΡΠΈΠ»ΠΈ ΡΡΠ»ΠΎΠ²ΠΈ Π·Π° ΠΈΠΌΠΏΠ»Π΅ΠΌΠ΅Π½ΡΠ°ΡΠΈΡΡ
ΡΠ»ΠΎΠΆΠ΅Π½ΠΈΡ
ΠΌΠ°ΡΠ΅ΠΌΠ°ΡΠΈΡΠΊΠΈΡ
ΡΠΎΡΠΌΠΈ Π°Π»Π³ΠΎΡΠΈΡΠ°ΠΌΠ° ΡΠΏΡΠ°Π²ΡΠ°ΡΠ°. Π’Π°Π΄Π° ΡΡ ΡΡΠ²ΠΎΡΠ΅Π½ΠΈ ΡΡΠ»ΠΎΠ²ΠΈ
Π·Π° ΠΈΠΌΠΏΠ»Π΅ΠΌΠ΅Π½ΡΠ°ΡΠΈΡΡ ΠΏΠΎΡΡΠΎΡΠ΅ΡΠΈΡ
Π°Π»Π³ΠΎΡΠΈΡΠ°ΠΌΠ° ΡΠΏΡΠ°Π²ΡΠ°ΡΠ° ΡΠ° ΠΏΡΠ΅ΡΡ
ΠΎΠ΄Π½ΠΈΠΌ ΠΈΡΠΊΡΡΡΠ²ΠΎΠΌ Ρ
ΠΎΠΊΠ²ΠΈΡΡ Π°Π½Π°Π»ΠΎΠ³Π½Π΅ ΡΠ΅Ρ
Π½ΠΈΠΊΠ΅ ΠΈ ΡΠ°Π·Π²ΠΎΡΠ° Π²Π΅Π»ΠΈΠΊΠΎΠ³ Π±ΡΠΎΡΠ° Π΄ΠΎΠ΄Π°ΡΠ½ΠΈΡ
Π°Π»Π³ΠΎΡΠΈΡΠ°ΠΌΡΠΊΠΈΡ
ΡΠ΅ΡΠ΅ΡΠ°.
Π£ ΠΎΠ²ΠΎΠΌ ΡΠ°Π΄Ρ ΡΠ΅ ΡΠ°Π·Π²ΠΈΡΠ΅Π½Π° ΡΠΏΠ΅ΡΠΈΡΠΈΡΠ½Π° ΠΌΠ΅ΡΠΎΠ΄ΠΎΠ»ΠΎΠ³ΠΈΡΠ° ΠΈΠ½ΠΆΠ΅ΡΠ΅ΡΡΠΊΠΎΠ³ Π΄ΠΈΠ·Π°ΡΠ½Π°
Π°ΠΊΡΡΠ°ΡΠΎΡΠ° Π·Π° ΡΠΏΡΠ°Π²ΡΠ°ΡΠ΅ Π²Π΅ΠΊΡΠΎΡΠΎΠΌ ΠΏΠΎΡΠΈΡΠΊΠ° ΡΠ°ΠΊΠ΅ΡΠ½ΠΎΠ³ ΠΌΠΎΡΠΎΡΠ° ΡΠ° ΡΠ»Π΅ΠΊΡΠΈΠ±ΠΈΠ»Π½ΠΈΠΌ
ΠΌΠ»Π°Π·Π½ΠΈΠΊΠΎΠΌ Π½Π° ΠΎΡΠ½ΠΎΠ²Ρ ΡΠ΅ΠΎΡΠΈΡΡΠΊΠΈΡ
Π°Π½Π°Π»ΠΈΠ·Π°, ΡΠ° Π΅Π»Π΅ΠΌΠ΅Π½ΡΠΈΠΌΠ° Π°ΠΊΡΠΈΠΎΠΌΠ°ΡΡΠΊΠΎΠ³ ΠΏΡΠΈΡΡΡΠΏΠ°,
ΠΊΠΎΡΠ° ΡΡΠ΅Π±Π° Π΄Π° ΠΎΠ»Π°ΠΊΡΠ°Π²Π° ΡΠ°Π΄ ΠΏΡΠΎΡΠ΅ΠΊΡΠ°Π½ΡΡ ΠΎΠ²Π΅ ΠΊΠ»Π°ΡΠ΅ Π°ΠΊΡΡΠ°ΡΠΈΠΎΠ½ΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ°. Π Π΅Π·ΡΠ»ΡΠ°Ρ
ΠΎΠ±ΠΈΠΌΠ½Π΅ ΡΠΈΡΡΠ΅ΠΌΠ°ΡΠΈΠ·Π°ΡΠΈΡΠ΅ ΡΠ΅ ΠΏΡΠΈΠΏΡΠ΅ΠΌΠ° ΡΠ΅ΠΎΡΠΈΡΡΠΊΠ΅ ΠΎΡΠ½ΠΎΠ²Π΅ Π΄Π° ΡΠ΅ ΠΏΠΎΡΠ΅Π±Π½ΠΎ ΠΌΠΎΠΆΠ΅
ΡΠ°Π·ΠΌΠ°ΡΡΠ°ΡΠΈ ΡΠ»Π΅ΠΊΡΠΈΠ±ΠΈΠ»Π½ΠΈ ΠΌΠ»Π°Π·Π½ΠΈΠΊ ΠΊΠ°ΠΎ ΡΠΏΠ΅ΡΠΈΡΠΈΡΠ½Π° Π²ΡΡΡΠ° ΡΡΡΡΠΊΡΡΡΠ½ΠΎΠ³ ΠΎΠΏΡΠ΅ΡΠ΅ΡΠ΅ΡΠ°
Π°ΠΊΡΡΠ°ΡΠΎΡΠ°, ΡΠ° Π΅Π»Π΅ΠΌΠ΅Π½ΡΠΈΠΌΠ° ΠΏΠΎΠ·ΠΈΡΠΈΠΎΠ½ΠΎΠ³ ΠΈ ΠΈΠ½Π΅ΡΡΠΈΡΠ°Π»Π½ΠΎΠ³ ΠΎΠΏΡΠ΅ΡΠ΅ΡΠ΅ΡΠ°. Π£ ΠΎΠΊΠ²ΠΈΡΡ
ΠΈΡΡΡΠ°ΠΆΠΈΠ²Π°ΡΠΊΠΎΠ³ ΡΠ°Π΄Π° Ρ ΡΠ΅Π·ΠΈ, ΡΡΠΊΡΠ΅ΡΠΈΠ²Π½ΠΎ ΡΠ΅ ΡΠ°Π·ΠΌΠ°ΡΡΠ° ΠΎΠΏΠΈΡ Π΅Π»Π°ΡΡΠΈΡΠ½ΠΎΠ³ ΠΎΠΏΡΠ΅ΡΠ΅ΡΠ΅ΡΠ°,
ΠΈΠ·Π±ΠΎΡ ΠΊΠΎΠ½ΡΠΈΠ³ΡΡΠ°ΡΠΈΡΠ΅ Π΅Π»Π΅ΠΊΡΡΠΎ Ρ
ΠΈΠ΄ΡΠ°ΡΠ»ΠΈΡΠ½ΠΎΠ³ Π°ΠΊΡΡΠ°ΡΠΎΡΠ°, Π±Π°Π·Π½ΠΈ Π»ΠΈΠ½Π΅Π°ΡΠ½ΠΈ ΠΈ
Π½Π΅Π»ΠΈΠ½Π΅Π°ΡΠ½ΠΈ ΠΌΠ°ΡΠ΅ΠΌΠ°ΡΠΈΡΠΊΠΈ ΠΌΠΎΠ΄Π΅Π»ΠΈ, ΠΊΡΠΈΡΠ΅ΡΠΈΡΡΠΌΠΈ Π·Π° ΠΈΠ·Π±ΠΎΡ Π°Π»Π³ΠΎΡΠΈΡΠ°ΠΌΠ° ΡΠΏΡΠ°Π²ΡΠ°ΡΠ° ΠΈ
ΠΏΡΠΎΡΠ΅ΡΡΡΠ΅ ΡΠ΅ ΡΡΠ²Π°ΡΠ½ΠΈ ΠΏΡΠΎΠ±Π»Π΅ΠΌ Π½Π΅ΠΌΠΎΠ΄Π΅Π»ΠΎΠ²Π°Π½Π΅ Π΄ΠΈΠ½Π°ΠΌΠΈΠΊΠ΅ Π°ΠΊΡΡΠ°ΡΠΈΠΎΠ½ΠΎΠ³ ΡΠΈΡΡΠ΅ΠΌΠ°.
ΠΡΠΎΠ· ΠΏΡΠ΅ΡΡ
ΠΎΠ΄Π½Ρ ΡΠ΅ΠΎΡΠΈΡΡΠΊΡ Π°Π½Π°Π»ΠΈΠ·Ρ, ΡΠΈΠ½ΡΠ΅ΡΠΈΡΠΈΠ·ΠΎΠ²Π°Π½ ΡΠ΅ Π°Π»Π³ΠΎΡΠΈΡΠ°ΠΌ ΡΠΏΡΠ°Π²ΡΠ°ΡΠ° Π½Π°
ΠΎΡΠ½ΠΎΠ²Ρ off-line ΠΈΠ΄Π΅Π½ΡΠΈΡΠΈΠΊΠ°ΡΠΈΡΠ΅, ΠΊΠΎΡΠΈ ΡΠ΅ ΠΏΡΠΎΠ²Π΅ΡΠ΅Π½ Π½Π° ΡΠΈΠΌΡΠ»Π°ΡΠΎΡΡ ΠΎΠΏΡΠ΅ΡΠ΅ΡΠ΅ΡΠ° ΡΠ°
ΡΠ΅Π°Π»Π½ΠΈΠΌ Π΅Π»Π΅ΠΊΡΡΠΎ Ρ
ΠΈΠ΄ΡΠ°ΡΠ»ΠΈΡΠ½ΠΈΠΌ Π°ΠΊΡΡΠ°ΡΠΎΡΠΎΠΌ ΠΈ Π΄Π΅ΡΠΈΠ½ΠΈΡΠ°Π½Π° ΡΠ΅ ΠΊΠΎΠ½ΡΠΈΠ³ΡΡΠ°ΡΠΈΡΠ°
Π΅Π»Π΅ΠΊΡΡΠΎ Ρ
ΠΈΠ΄ΡΠ°ΡΠ»ΠΈΡΠ½ΠΎΠ³ Π°ΠΊΡΡΠ°ΡΠΎΡΠ° ΠΊΠΎΡΠ° ΡΠ΅ΡΠ°Π²Π° ΠΏΡΠΎΠ±Π»Π΅ΠΌ Π·Π°ΠΊΡΠ΅ΡΠ°ΡΠ° ΠΌΠ»Π°Π·Π½ΠΈΠΊΠ° ΠΎΠΊΠΎ
ΡΠ°ΡΠΊΠ΅ Π²Π΅Π·Π΅ ΡΠ° Π°ΠΊΡΡΠ°ΡΠΎΡΠΎΠΌ ΠΏΠΎΡΠ»Π΅ Π°ΠΊΡΠΈΡΠ°Π»Π½ΠΎΠ³ ΠΏΠΎΠΌΠ΅ΡΠ°ΡΠ° ΡΠ»Π΅ΠΊΡΠΈΠ±ΠΈΠ»Π½Π΅ Π²Π΅Π·Π΅ Π½Π° ΠΏΠΎΡΠ΅ΡΠΊΡ
ΡΠ°Π΄Π° ΡΠ°ΠΊΠ΅ΡΠ½ΠΎΠ³ ΠΌΠΎΡΠΎΡΠ°.Design of actuation systems, especially electro hydraulics systems, has been subject of
research in the past decades, we can say almost for 70 years, when started the
development of this field of technology to the needs of military aviation at the end of
the Second World War. Research has particularly intense since the beginning of the
widespread use of computers, when they created the conditions for the implementation
of complex mathematical algorithms form. Then they created the conditions for the
implementation of the existing control algorithms with previous experience within the
analogue techniques and the development of a large number of additional algorithmic
solutions.
In this thesis we developed a specific methodology for the engineering design of the
actuator for thrust vector control of rocket engine with flexible nozzle based on
theoretic analysis with elements of the axiomatic approach, which should facilitate the
work of the designer of this class of actuating systems. The result of extensive
systematization is prepared theoretical basis for consideration of the flexible nozzle as a
specific type of structural load of actuators, with elements of positioning type and
inertial type loads. Within the research work in the thesis, the focus is the description of
elastic load, selection of the configuration of the electro hydraulic actuators, basic linear
and nonlinear mathematical models, criteria for the selection of control algorithms and
assesses the actual problem of non-modeled dynamics actuating systems.
With previous theoretical analysis, the control algorithm has been synthesized based on
off-line identification, which is checked in the simulator with real electro hydraulic
actuator and is defined the configuration of electro hydraulic actuator that solves the
problem of nozzle swivel around point of connection with an actuator after the axial
displacement of flexible connections at rocket motor starting phase
Contribution to designing theory for the actuator for rocket motor thrust vector control by flexible nozzle
ΠΡΠΎΡΠ΅ΠΊΡΠΎΠ²Π°ΡΠ΅ Π°ΠΊΡΡΠ°ΡΠΈΠΎΠ½ΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ°, ΠΏΠΎΡΠ΅Π±Π½ΠΎ Π΅Π»Π΅ΠΊΡΡΠΎ Ρ
ΠΈΠ΄ΡΠ°ΡΠ»ΠΈΡΠ½ΠΈΡ
, ΠΏΡΠ΅Π΄ΠΌΠ΅Ρ ΡΠ΅
ΠΎΠ±ΠΈΠΌΠ½ΠΈΡ
ΠΈΡΡΡΠ°ΠΆΠΈΠ²Π°ΡΠ° Π²Π΅Ρ Π΄ΡΠ³ΠΈ Π½ΠΈΠ· Π³ΠΎΠ΄ΠΈΠ½Π°, ΠΌΠΎΠΆΠ΅ ΡΠ΅ ΡΠ΅ΡΠΈ Π³ΠΎΡΠΎΠ²ΠΎ Π²Π΅Ρ 70 Π³ΠΎΠ΄ΠΈΠ½Π°,
ΠΊΠ°Π΄Π° ΡΠ΅ ΠΏΠΎΡΠ΅ΠΎ ΡΠ°Π·Π²ΠΎΡ ΠΎΠ²Π΅ ΠΎΠ±Π»Π°ΡΡΠΈ ΡΠ΅Ρ
Π½ΠΈΠΊΠ΅ Π·Π° ΠΏΠΎΡΡΠ΅Π±Π΅ Π²ΠΎΡΠ½ΠΎΠ³ Π²Π°Π·Π΄ΡΡ
ΠΎΠΏΠ»ΠΎΠ²ΡΡΠ²Π° Π½Π°
ΠΊΡΠ°ΡΡ ΠΡΡΠ³ΠΎΠ³ ΡΠ²Π΅ΡΡΠΊΠΎΠ³ ΡΠ°ΡΠ°. ΠΡΡΡΠ°ΠΆΠΈΠ²Π°ΡΠ° ΡΡ ΠΏΠΎΡΠ΅Π±Π½ΠΎ ΠΈΠ½ΡΠ΅Π·ΠΈΠ²Π½Π° ΠΎΠ΄ ΠΏΠΎΡΠ΅ΡΠΊΠ°
ΡΠΈΡΠΎΠΊΠ΅ ΡΠΏΠΎΡΡΠ΅Π±Π΅ ΡΠ°ΡΡΠ½Π°ΡΠ°, ΠΊΠ°Π΄Π° ΡΡ ΡΠ΅ ΡΡΠ²ΠΎΡΠΈΠ»ΠΈ ΡΡΠ»ΠΎΠ²ΠΈ Π·Π° ΠΈΠΌΠΏΠ»Π΅ΠΌΠ΅Π½ΡΠ°ΡΠΈΡΡ
ΡΠ»ΠΎΠΆΠ΅Π½ΠΈΡ
ΠΌΠ°ΡΠ΅ΠΌΠ°ΡΠΈΡΠΊΠΈΡ
ΡΠΎΡΠΌΠΈ Π°Π»Π³ΠΎΡΠΈΡΠ°ΠΌΠ° ΡΠΏΡΠ°Π²ΡΠ°ΡΠ°. Π’Π°Π΄Π° ΡΡ ΡΡΠ²ΠΎΡΠ΅Π½ΠΈ ΡΡΠ»ΠΎΠ²ΠΈ
Π·Π° ΠΈΠΌΠΏΠ»Π΅ΠΌΠ΅Π½ΡΠ°ΡΠΈΡΡ ΠΏΠΎΡΡΠΎΡΠ΅ΡΠΈΡ
Π°Π»Π³ΠΎΡΠΈΡΠ°ΠΌΠ° ΡΠΏΡΠ°Π²ΡΠ°ΡΠ° ΡΠ° ΠΏΡΠ΅ΡΡ
ΠΎΠ΄Π½ΠΈΠΌ ΠΈΡΠΊΡΡΡΠ²ΠΎΠΌ Ρ
ΠΎΠΊΠ²ΠΈΡΡ Π°Π½Π°Π»ΠΎΠ³Π½Π΅ ΡΠ΅Ρ
Π½ΠΈΠΊΠ΅ ΠΈ ΡΠ°Π·Π²ΠΎΡΠ° Π²Π΅Π»ΠΈΠΊΠΎΠ³ Π±ΡΠΎΡΠ° Π΄ΠΎΠ΄Π°ΡΠ½ΠΈΡ
Π°Π»Π³ΠΎΡΠΈΡΠ°ΠΌΡΠΊΠΈΡ
ΡΠ΅ΡΠ΅ΡΠ°.
Π£ ΠΎΠ²ΠΎΠΌ ΡΠ°Π΄Ρ ΡΠ΅ ΡΠ°Π·Π²ΠΈΡΠ΅Π½Π° ΡΠΏΠ΅ΡΠΈΡΠΈΡΠ½Π° ΠΌΠ΅ΡΠΎΠ΄ΠΎΠ»ΠΎΠ³ΠΈΡΠ° ΠΈΠ½ΠΆΠ΅ΡΠ΅ΡΡΠΊΠΎΠ³ Π΄ΠΈΠ·Π°ΡΠ½Π°
Π°ΠΊΡΡΠ°ΡΠΎΡΠ° Π·Π° ΡΠΏΡΠ°Π²ΡΠ°ΡΠ΅ Π²Π΅ΠΊΡΠΎΡΠΎΠΌ ΠΏΠΎΡΠΈΡΠΊΠ° ΡΠ°ΠΊΠ΅ΡΠ½ΠΎΠ³ ΠΌΠΎΡΠΎΡΠ° ΡΠ° ΡΠ»Π΅ΠΊΡΠΈΠ±ΠΈΠ»Π½ΠΈΠΌ
ΠΌΠ»Π°Π·Π½ΠΈΠΊΠΎΠΌ Π½Π° ΠΎΡΠ½ΠΎΠ²Ρ ΡΠ΅ΠΎΡΠΈΡΡΠΊΠΈΡ
Π°Π½Π°Π»ΠΈΠ·Π°, ΡΠ° Π΅Π»Π΅ΠΌΠ΅Π½ΡΠΈΠΌΠ° Π°ΠΊΡΠΈΠΎΠΌΠ°ΡΡΠΊΠΎΠ³ ΠΏΡΠΈΡΡΡΠΏΠ°,
ΠΊΠΎΡΠ° ΡΡΠ΅Π±Π° Π΄Π° ΠΎΠ»Π°ΠΊΡΠ°Π²Π° ΡΠ°Π΄ ΠΏΡΠΎΡΠ΅ΠΊΡΠ°Π½ΡΡ ΠΎΠ²Π΅ ΠΊΠ»Π°ΡΠ΅ Π°ΠΊΡΡΠ°ΡΠΈΠΎΠ½ΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ°. Π Π΅Π·ΡΠ»ΡΠ°Ρ
ΠΎΠ±ΠΈΠΌΠ½Π΅ ΡΠΈΡΡΠ΅ΠΌΠ°ΡΠΈΠ·Π°ΡΠΈΡΠ΅ ΡΠ΅ ΠΏΡΠΈΠΏΡΠ΅ΠΌΠ° ΡΠ΅ΠΎΡΠΈΡΡΠΊΠ΅ ΠΎΡΠ½ΠΎΠ²Π΅ Π΄Π° ΡΠ΅ ΠΏΠΎΡΠ΅Π±Π½ΠΎ ΠΌΠΎΠΆΠ΅
ΡΠ°Π·ΠΌΠ°ΡΡΠ°ΡΠΈ ΡΠ»Π΅ΠΊΡΠΈΠ±ΠΈΠ»Π½ΠΈ ΠΌΠ»Π°Π·Π½ΠΈΠΊ ΠΊΠ°ΠΎ ΡΠΏΠ΅ΡΠΈΡΠΈΡΠ½Π° Π²ΡΡΡΠ° ΡΡΡΡΠΊΡΡΡΠ½ΠΎΠ³ ΠΎΠΏΡΠ΅ΡΠ΅ΡΠ΅ΡΠ°
Π°ΠΊΡΡΠ°ΡΠΎΡΠ°, ΡΠ° Π΅Π»Π΅ΠΌΠ΅Π½ΡΠΈΠΌΠ° ΠΏΠΎΠ·ΠΈΡΠΈΠΎΠ½ΠΎΠ³ ΠΈ ΠΈΠ½Π΅ΡΡΠΈΡΠ°Π»Π½ΠΎΠ³ ΠΎΠΏΡΠ΅ΡΠ΅ΡΠ΅ΡΠ°. Π£ ΠΎΠΊΠ²ΠΈΡΡ
ΠΈΡΡΡΠ°ΠΆΠΈΠ²Π°ΡΠΊΠΎΠ³ ΡΠ°Π΄Π° Ρ ΡΠ΅Π·ΠΈ, ΡΡΠΊΡΠ΅ΡΠΈΠ²Π½ΠΎ ΡΠ΅ ΡΠ°Π·ΠΌΠ°ΡΡΠ° ΠΎΠΏΠΈΡ Π΅Π»Π°ΡΡΠΈΡΠ½ΠΎΠ³ ΠΎΠΏΡΠ΅ΡΠ΅ΡΠ΅ΡΠ°,
ΠΈΠ·Π±ΠΎΡ ΠΊΠΎΠ½ΡΠΈΠ³ΡΡΠ°ΡΠΈΡΠ΅ Π΅Π»Π΅ΠΊΡΡΠΎ Ρ
ΠΈΠ΄ΡΠ°ΡΠ»ΠΈΡΠ½ΠΎΠ³ Π°ΠΊΡΡΠ°ΡΠΎΡΠ°, Π±Π°Π·Π½ΠΈ Π»ΠΈΠ½Π΅Π°ΡΠ½ΠΈ ΠΈ
Π½Π΅Π»ΠΈΠ½Π΅Π°ΡΠ½ΠΈ ΠΌΠ°ΡΠ΅ΠΌΠ°ΡΠΈΡΠΊΠΈ ΠΌΠΎΠ΄Π΅Π»ΠΈ, ΠΊΡΠΈΡΠ΅ΡΠΈΡΡΠΌΠΈ Π·Π° ΠΈΠ·Π±ΠΎΡ Π°Π»Π³ΠΎΡΠΈΡΠ°ΠΌΠ° ΡΠΏΡΠ°Π²ΡΠ°ΡΠ° ΠΈ
ΠΏΡΠΎΡΠ΅ΡΡΡΠ΅ ΡΠ΅ ΡΡΠ²Π°ΡΠ½ΠΈ ΠΏΡΠΎΠ±Π»Π΅ΠΌ Π½Π΅ΠΌΠΎΠ΄Π΅Π»ΠΎΠ²Π°Π½Π΅ Π΄ΠΈΠ½Π°ΠΌΠΈΠΊΠ΅ Π°ΠΊΡΡΠ°ΡΠΈΠΎΠ½ΠΎΠ³ ΡΠΈΡΡΠ΅ΠΌΠ°.
ΠΡΠΎΠ· ΠΏΡΠ΅ΡΡ
ΠΎΠ΄Π½Ρ ΡΠ΅ΠΎΡΠΈΡΡΠΊΡ Π°Π½Π°Π»ΠΈΠ·Ρ, ΡΠΈΠ½ΡΠ΅ΡΠΈΡΠΈΠ·ΠΎΠ²Π°Π½ ΡΠ΅ Π°Π»Π³ΠΎΡΠΈΡΠ°ΠΌ ΡΠΏΡΠ°Π²ΡΠ°ΡΠ° Π½Π°
ΠΎΡΠ½ΠΎΠ²Ρ off-line ΠΈΠ΄Π΅Π½ΡΠΈΡΠΈΠΊΠ°ΡΠΈΡΠ΅, ΠΊΠΎΡΠΈ ΡΠ΅ ΠΏΡΠΎΠ²Π΅ΡΠ΅Π½ Π½Π° ΡΠΈΠΌΡΠ»Π°ΡΠΎΡΡ ΠΎΠΏΡΠ΅ΡΠ΅ΡΠ΅ΡΠ° ΡΠ°
ΡΠ΅Π°Π»Π½ΠΈΠΌ Π΅Π»Π΅ΠΊΡΡΠΎ Ρ
ΠΈΠ΄ΡΠ°ΡΠ»ΠΈΡΠ½ΠΈΠΌ Π°ΠΊΡΡΠ°ΡΠΎΡΠΎΠΌ ΠΈ Π΄Π΅ΡΠΈΠ½ΠΈΡΠ°Π½Π° ΡΠ΅ ΠΊΠΎΠ½ΡΠΈΠ³ΡΡΠ°ΡΠΈΡΠ°
Π΅Π»Π΅ΠΊΡΡΠΎ Ρ
ΠΈΠ΄ΡΠ°ΡΠ»ΠΈΡΠ½ΠΎΠ³ Π°ΠΊΡΡΠ°ΡΠΎΡΠ° ΠΊΠΎΡΠ° ΡΠ΅ΡΠ°Π²Π° ΠΏΡΠΎΠ±Π»Π΅ΠΌ Π·Π°ΠΊΡΠ΅ΡΠ°ΡΠ° ΠΌΠ»Π°Π·Π½ΠΈΠΊΠ° ΠΎΠΊΠΎ
ΡΠ°ΡΠΊΠ΅ Π²Π΅Π·Π΅ ΡΠ° Π°ΠΊΡΡΠ°ΡΠΎΡΠΎΠΌ ΠΏΠΎΡΠ»Π΅ Π°ΠΊΡΠΈΡΠ°Π»Π½ΠΎΠ³ ΠΏΠΎΠΌΠ΅ΡΠ°ΡΠ° ΡΠ»Π΅ΠΊΡΠΈΠ±ΠΈΠ»Π½Π΅ Π²Π΅Π·Π΅ Π½Π° ΠΏΠΎΡΠ΅ΡΠΊΡ
ΡΠ°Π΄Π° ΡΠ°ΠΊΠ΅ΡΠ½ΠΎΠ³ ΠΌΠΎΡΠΎΡΠ°.Design of actuation systems, especially electro hydraulics systems, has been subject of
research in the past decades, we can say almost for 70 years, when started the
development of this field of technology to the needs of military aviation at the end of
the Second World War. Research has particularly intense since the beginning of the
widespread use of computers, when they created the conditions for the implementation
of complex mathematical algorithms form. Then they created the conditions for the
implementation of the existing control algorithms with previous experience within the
analogue techniques and the development of a large number of additional algorithmic
solutions.
In this thesis we developed a specific methodology for the engineering design of the
actuator for thrust vector control of rocket engine with flexible nozzle based on
theoretic analysis with elements of the axiomatic approach, which should facilitate the
work of the designer of this class of actuating systems. The result of extensive
systematization is prepared theoretical basis for consideration of the flexible nozzle as a
specific type of structural load of actuators, with elements of positioning type and
inertial type loads. Within the research work in the thesis, the focus is the description of
elastic load, selection of the configuration of the electro hydraulic actuators, basic linear
and nonlinear mathematical models, criteria for the selection of control algorithms and
assesses the actual problem of non-modeled dynamics actuating systems.
With previous theoretical analysis, the control algorithm has been synthesized based on
off-line identification, which is checked in the simulator with real electro hydraulic
actuator and is defined the configuration of electro hydraulic actuator that solves the
problem of nozzle swivel around point of connection with an actuator after the axial
displacement of flexible connections at rocket motor starting phase