一种引入位置比例控制提高电动负载模拟器性能的控制系统设计方法

摘要

We establish the mathematical model of a motor-driven torque control simulator. Under the circumstance of passive load, we suppress the surplus torque by using the position-proportional control and angular-speed feed forward compensation. We design the control system that includes three loops:position-proportional control, angular speed feed forward compensation and closed-loop PID torque control. We then analyze the time domain and frequen-cy domain characteristics of the control system. The results and their analysis show preliminarily that the control sys-tem thus designed can significantly enhance the control precision of the motor-driven torque control simulator and expand the frequency band of its torque load to at least 25Hz.%仔细分析了电动负载模拟器的工作原理及多余力矩的产生机理，建立了电动负载模拟器的数学模型，在被动加载的情况下，提出了采用位置比例控制与角速度前馈补偿两种方法共同抑制多余力矩，设计了包含位置比例控制＋角速度前馈补偿＋力矩闭环控制的三回路控制系统，进一步提高了电动负载模拟器的控制精度并展宽了力矩加载频带，使得电动负载模拟器的加载频带提高到了25 Hz以上。