双电机舵机负载模拟器设计与研究  

Design and Research of Electric Load Simulator for Dual-Motor Servo

作　　者：于杰[1] 王志胜[1] YU Jie WANG Zhisheng(Nanjing University of Aeronautics and Astronautics, Institute of Automation, Nanjing 211106, China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京211106

出　　处：《机械与电子》2017年第2期28-31,共4页Machinery & Electronics

摘　　要：提出了一种电动负载模拟器的新结构方式,即通过跟随电机进行舵机位置跟随,加载电机进行舵机载荷谱跟随。首先建立了电动负载模拟器的数学模型,分析了多余力矩产生的机理,提出采用双电机加载的方法来抑制多余力矩,然后补偿多余力矩采用基于结构不变性原理的前馈补偿方法,在MATLAB中进行仿真并进行试验,得到了很好的补偿效果。This paper proposed a new structure of the electric load simulator, which could follow the motor to track the movement of the servo, and load the motor to follow the load spectrum of the servo. Firstly, the mathematical model of electric load simulator was established, and the mechanism of redun- dant torque was analyzed and then, the method of dual--motor loading was used to restrain the redundant torque. The feed- forward compensation method based on the structure invariance principle was taken to compensate the redundant torque. Finally, the simulation and experiment was carried out on the MAT- LAB with good compensation effect obtained.

关 键 词：电动负载模拟器 双电机 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]