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论文:2014,Vol:32,Issue(2):235-239 |
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引用本文： |
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郭行, 陈康, 孙力, 闫杰. 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[J]. 西北工业大学 |
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Guo Hang, Chen Kang, Sun Li, Yan Jie. An Effective Method for Designing Control System of Motor-Driven Torque Control Simulator by Introducing Position Proportional Control[J]. Northwestern polytechnical university |
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| 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 |
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| 郭行, 陈康, 孙力, 闫杰 |
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| 西北工业大学 航天学院, 陕西 西安 710072 |
| 摘要: |
| 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。 |
| 关键词:
电动负载模拟器
多余力矩
位置比例控制
加载频带
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| An Effective Method for Designing Control System of Motor-Driven Torque Control Simulator by Introducing Position Proportional Control |
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| Guo Hang, Chen Kang, Sun Li, Yan Jie |
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| College of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| 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. |
| Key words:
computer simulation
control systems
closed loop control systems
cutoff frequency
feedforward control
frequency domain analysis
MATLAB
position control
root loci
sensors
time domain analysis
velocity control
motor-driven torque control simulator
position-proportional control
surplus torque
torque load
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| 收稿日期: 2013-10-09
修回日期:
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| DOI: |
| 通讯作者:
Email： |
| 作者简介: 郭行(1990-),西北工业大学硕士研究生,主要从事飞行器导航制导与控制的研究。
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| 相关功能 |
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| 作者相关文章 |
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| 郭行 在本刊中的所有文章 |
| 陈康 在本刊中的所有文章 |
| 孙力 在本刊中的所有文章 |
| 闫杰 在本刊中的所有文章 |
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参考文献: |
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[1] 符文星, 孙力. 电动负载模拟器控制系统设计[J]. 西北工业大学学报, 2008, 26(5): 621-622 Fu Wenxing, Sun Li. Improving Design of Control System for DC Motor-Driven Torque Control Simulator[J]. Journal of Northwestern Polytechnical University, 2008, 26(5): 621-622 (in Chinese)
[2] 方强. 被动式力矩伺服控制系统设计方法及应用研究[D]. 哈尔滨: 哈尔滨工业大学, 2006 Fang Qiang. Research on Design Method for Passive Torque Servo Control System and Its Application[D]. Harbin: Harbin Institute of Technology, 2006 (in Chinese)
[3] 苏东海, 吴盛林, 付兴武, 刘庆和. 利用基于同步补偿的角速度差值克服多余力矩[J]. 哈尔滨工业大学学报, 2000, 32 (1): 78-81 Su Donghai, Wu Shenglin, Fu Xingwu, Liu Qinghe. Eliminating Disturbance Torque by Angular Velocity Difference Based on Synchro-Compensation[J]. Journal of Harbin Institute of Technology, 2000, 32(1): 78-81 (in Chinese)
[4] 陶永华. 新型 PID 控制及其应用[M]. 北京: 机械工业出版社, 2002 Tao Yonghua. New Kinds of PID Control and Applications[M]. Beijing: China Machine Press, 2002 (in Chinese)
[5] 于慈远, 赵克定. 飞行器负载仿真台速度反馈克服多余力矩的仿真研究[J]. 哈尔滨工业大学学报, 1997, 29(6): 126-129 Yu Ciyuan, Zhao Keding. Study on Speed Feedback Applied to Craft Load Simulator to Overcome Disturbance Torque[J]. Journal of Harbin Institute of Technology, 1997, 29(6): 126-129(in Chinese) |
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