北京航空航天大学学报 ›› 2013, Vol. 39 ›› Issue (3): 300-304.

• 论文 • 上一篇    下一篇

基于力矩前馈和舵机角度补偿的力矩控制

牛国臣, 王巍, 魏志强, 宗光华   

  1. 北京航空航天大学 机器人研究所, 北京 100191
  • 收稿日期:2012-02-15 出版日期:2013-03-31 发布日期:2013-04-03
  • 作者简介:牛国臣(1981-),男,山东菏泽人,博士生,niu_guochen@139.com.
  • 基金资助:

    国家自然科学基金资助项目(51175011)

Torque control based on torque feedforward and rudder angle compensation

Niu Guochen, Wang Wei, Wei Zhiqiang, Zong Guanghua   

  1. Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2012-02-15 Online:2013-03-31 Published:2013-04-03

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.

Abstract: In order to provide precise load torque for testing the stiffness of rudder systems, a torque control 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 oscillation and phase lag can be suppressed effectively using the approach, and successful completion of stiffness test is ensured.

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