ETLS干扰力矩抑制及加载性能改善方法  

Disturbance torque suppression and improved dynamic loading performance for electric torque loading simulator

作　　者：赵文德[1] 唐琪 张铭钧[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2016年第11期1586-1593,共8页Journal of Harbin Engineering University

基　　金：国防基础科研项目(B2420133003)

摘　　要：本文研制了ETLS的实验样机,建立了考虑加载系统摩擦非线性的ETLS综合数学模型。本文研究舵机系统位置扰动造成的多余力矩干扰问题,提出基于舵机系统输出角速度的前馈补偿控制进行抑制;考虑到加载系统的摩擦非线性问题,本文采用基于死区逆的方法进行补偿。接着,本文在力矩加载中存在幅值衰减和相位滞后问题上,采用基于最小均方差(least mean square error,LMSE)的幅相控制算法进行抑制以提高ETLS的加载性能,并提出基于Sigmoid函数变步长LMSE的幅相控制算法减小算法中收敛速度和稳态精度对步长需求相互矛盾,以提高算法整体改善。最后,通过仿真和实际实验,验证本文干扰力矩抑制和加载性能改善方法的有效性,在0.5 Hz和5 Hz频率下,基于本文方法的跟踪精度分别提高了87.0%和64.9%。m In this paper, an experimental prototype of electric torque loading simulator （ ETLS） is developed and the integrated mathematic model is built for ETLS along with friction nonlinearity of loading system. Based on the investigation of the problem of surplus torque caused by position disturbance of the loaded system, this paper designs a feedforward compensation control method based on the output angular velocity of the loaded system. A compensation method is then developed on the basis of deadinverse by considering friction nonlinearity of the loaded system. In addition, with respect to the problem of amplitude attenuation and phase lag of ETLS, this paper adopts an amplitude and phase control （ APC） algorithm based on the least mean square error （ LMSE） technique to improve the loading performance of ETLS. The APC algorithm based on the sigmoid function adaptive-step LMSE algorithm is subsequently proposed, with the aim of reducing the contradiction of step required by the convergence rate and steady precision, thereby improving the performance of the entire algorithm. Finally, a series of simulations and experiments are conducted, and results show that the developed disturbance torque suppression and loading performance improvement method are effective. Specifically, in conditions with 0.5 and 5 Hz frequencies, the tracking precision is improved by 87.0% and 64.9%, respectively, by using the proposed method.

关 键 词：电动式扭矩加载系统 多余力矩 死区逆 幅相控制 前馈补偿控制 最小均方差 

分 类 号：TH12[机械工程—机械设计及理论]