电动负载模拟器多余力矩抑制方法研究  

Research on Surplus Torque Suppression Method of Electric Load Simulator

作　　者：于振中[1] 周枫 YU Zhenzhong;ZHOU Feng(School of Internet of Things Engineering,Jiangnan University,Wuxi 214122)

机构地区：[1]江南大学物联网工程学院,无锡214122

出　　处：《计算机与数字工程》2021年第1期59-63,共5页Computer & Digital Engineering

基　　金：江苏省自然科学基金项目“主/被动轮臂混合机构救援机器人主动地形自适应控制基础研究”(编号:BK20130159)资助。

摘　　要：为了解决多余力矩对电动负载模拟器强干扰,影响加载指令跟踪精度的问题,论文将基于蚁群优化的PID控制方法用于加载电机控制器的设计。首先在分析加载电机结构以及工作原理的基础上建立了电动加载系统的数学模型,并利用结构不变性原理进行前馈补偿推导;其次针对常规PID控制器无法通过变参数来应对复杂的非线性环境的问题,提出了一种基于蚁群算法优化PID控制器参数的复合控制策略;最后通过仿真验证了该控制策略在对多余力矩消除上要优于常规的PID控制。In order to solve the problem that the surplus torque has strong interference on the electric load simulator and af⁃fects the tracking accuracy of the loading instruction,the PID control method based on ant colony optimization is used in the design of the loading motor controller in this paper.Firstly,the mathematical model of the electric loading system is established on the ba⁃sis of analyzing the structure and working principle of the loading motor.Secondly,aiming at the problem that the conventional PID controller can not deal with the complex nonlinear environment by changing parameters,a compound control strategy based on ant colony algorithm to optimize PID controller parameters is proposed.Finally,the simulation verifies that the control strategy is better than the conventional PID control in eliminating the surplus torque.

关 键 词：多余力矩 电动负载模拟器 前馈补偿 PID控制器 蚁群算法 

分 类 号：TN06[电子电信—物理电子学] TP302.1[自动化与计算机技术—计算机系统结构]