舵机负载模拟系统前馈补偿控制研究

舵机负载模拟系统的主要任务是对舵机的力矩负载特性、最大承载能力等参数或特性进行检测,但由于这种系统通常是不稳定的发散系统,系统的不稳定特性直接影响舵机的性能检测精度.为克服此类问题对工程应用的不良影响,提出采用微分负反馈方法来解决负载模拟器的发散问题.同时,针对舵机运动速度分量引起的多余力问题,设计了舵机运动速度前馈补偿的控制算法.基于Matlab进行了控制系统仿真验证,对加入补偿算法前后系统对自然正弦指令信号的力矩响应幅值和相位差值进行了对比,分析了加入校正环节对系统误差的改善情况.仿真和实验结果表明,该方法在工程领域常见工况下具有较好的力矩跟踪性能,能够有效地测试舵机的承载性能.

Research on Feedforward Compensation Control of Steering Engine Load Simulation System

The main task of the steering gear load simulation system is to inspect the torque load,maximum load-bearing and other features of the steering engine.However,since the system is usually an unstable divergence system,the unstable characteristics directly affect the servo performance detection accuracy.In order to overcome the adverse effects of such problems on engineering applications,a differential negative feedback method is proposed to solve the divergence problem of load simulator.At the same time,the control algorithm of feedforward compensation for the speed of the steering gear is designed for the redundant force caused by the speed component of the steering gear.The simulation and verification of the control system are carried out based on Matlab.The torque response amplitude and phase difference of the natural sinusoidal command signal are compared before and after the compensation algorithm is added,and the improvement of the system error is analyzed.The simulation and experimental results show that the method has good torque tracking performance under the common working conditions of the engineering field,and can effectively test the bearing performance of the steering gear.