反操纵大扭矩电动加载系统设计与应用  

Design and Application of Large Torque Electrical Load System for Reverse Operation

作　　者：魏志强[1] 牛国臣[1] 张小磊[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：《机械与电子》2013年第8期58-62,共5页Machinery & Electronics

摘　　要：为满足新型舵机对反操纵加载性能的测试需求,设计了大扭矩反操纵电动加载控制系统。在对系统进行数学建模的基础上,从加载指标、系统稳定性等角度分析反操纵加载实现原理。针对多余力矩,根据不变性原理引入力矩前馈及舵机角度补偿,并基于力/位置混合控制模式实现对舵机高精度正反操纵大扭矩电动加载。实际应用表明,该方法能有效抑制多余力矩,满足了舵机反操纵力矩加载测试对加载精度的要求。In order to meet the testing require ment of reverse operation load for new rudder, an electrical load simulator for large torque reverse operation load is designed. The realization principle of control system is given from the system index, the stability and so on based on the system mathe matical model. The compensation method of torque feedforward and rudder angle is adopted to restrain the surplus torque based on the principle of invari ance. So the high precision large torque load under the positive and reverse operation for rudder is realized by means of the torque and position hybrid control. The practical application shows that the control method can effectively restrained the surplus torque and the system meets the high preci- sion reverse operation torque load for rudder verywell.

关 键 词：电动加载 反操纵力矩加载 力 位置混合控制 前馈补偿 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]