基于力矩前馈和舵机角度补偿的力矩控制  

Torque control based on torque feedforward and rudder angle compensation

作　　者：牛国臣[1] 王巍[1] 魏志强[1] 宗光华[1] 

机构地区：[1]北京航空航天大学机器人研究所,北京100191

出　　处：《北京航空航天大学学报》2013年第3期300-304,共5页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金资助项目(51175011)

摘　　要：针对舵机刚度测试中力矩精确加载问题,设计了基于力矩前馈和舵机角度补偿的高精度、大量程力矩加载控制系统.对系统中力矩电机、力矩电机驱动器和加载弹性杆进行了建模分析.从加载目标、频宽及系统稳定性的角度,分析了弹性杆刚度对力矩加载性能的影响.针对力矩闭环控制系统的持续振荡及相位滞后问题,基于不变性原理引入了力矩前馈及舵机角度补偿的复合控制策略.实验表明该方法能有效抑制力矩的振荡及相位滞后,满足刚度测试对加载力矩的控制精度要求.In order to provide precise load torque for testing the stiffness of rudder systems, a torque con- trol system with the characteristics of high accuracy and large scale combining torque feedforward and rudder angle compensation was designed. The mathematical models of torque motor, torque motor driver and spring beam were established. Performance of loading torque was influenced obviously by the stiffness coefficient of spring beam, which was analyzed from load target, frequency width and system stability. Because continuous oscillation and large phase lag appear while torque loop controller was adopted, torque feedforward and rudder angle compensation were induced based on invariance theory. The experiment results prove that torque oscilla- tion and phase lag can be suppressed effectively using the approach, and successful completion of stiffness test is ensured.

关 键 词：刚度测试 力矩加载 弹性杆 力矩前馈 角度补偿 

分 类 号：TP271.4[自动化与计算机技术—检测技术与自动化装置]