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

基于力矩前馈和舵机角度补偿的力矩控制

北京航空航天大学机器人研究所, 北京 100191

基金项目: 国家自然科学基金资助项目(51175011)

详细信息

作者简介:
牛国臣(1981-),男,山东菏泽人,博士生,niu_guochen@139.com.

中图分类号: TP271⁺.4
计量
- 文章访问数: 2019
- HTML全文浏览量: 27
- PDF下载量: 684
- 被引次数: 0
出版历程
- 收稿日期: 2012-02-15
- 网络出版日期: 2013-03-31

Torque control based on torque feedforward and rudder angle compensation

Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

摘要

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.
- 刚度测试 /
- 力矩加载 /
- 弹性杆 /
- 力矩前馈 /
- 角度补偿
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.
- stiffness test /
- torque load /
- spring beam /
- torque feedforward /
- angle compensation

HTML全文

参考文献(1)

[1] Yoonsu Nam,Sung Kyung Hong.Force control system design for aerodynamic load simulator[J].Control Engineering Practice,2002,10(5):549-558 [2] 胡勇,吴娟.舵机动刚度加载系统设计与分析[J].机床与液压,2011,39(15):70-73 Hu Yong,Wu Juan.Design and analysis of the loading system for the actuator dynamic stiffness test-bed[J].Machine Tool and Hydraulics,2011,39(15):70-73(in Chinese) [3] 王鸿辉,吴娟,袁朝辉.舵机动刚度试验台研制分析[J].液压与气动,2004(11):1-3 Wang Honghui,Wu Juan,Yuan Chaohui.Analysis and research of the tester applied to test the impedance of hydraulic booster location system[J].Chinese Hydraulics and Pneumatics,2004(11):1-3(in Chinese) [4] 任志婷,焦宗夏.小转矩电动式负载模拟器的设计[J].北京航空航天大学学报,2003,29(1):91-94 Ren Zhiting,Jiao Zongxia.Design of motor-drive loading simulator with small torque outputs[J].Journal of Beijing University of Aeronautics and Astronautics,2003,29(1):91-94(in Chinese) [5] 王明彦,郭犇,王金梁.惯量和刚度对电动负载模拟器频宽影响的分析[J].电机与控制学报,2004,8(1):71-73 Wang Mingyan,Guo Ben,Wang Jinliang.Simulation of the influence of inertia and rigidity on the bandwidth of electrical load simulator[J].Electric Machine and Control,2004,8(1):71-73(in Chinese) [6] 黄勇,孙力,阎杰.连接刚度对电动负载模拟器性能的影响[J].弹箭与制导学报,2004,24(4):170-173 Huang Yong,Sun Li,Yan Jie.Effects of connect rigidity on motor-drived load simulator[J].Journal of Projectiles, Rockets, Missiles and Guidance,2004,24(4):170-173(in Chinese) [7] Nguyen Trong Tai,Nguyen Bao Kha,Kyoung Kwan Ahn.Predictive position and force control for shape memory alloy cylinders[J].Journal of Mechanical Science and Technology,2010, 24(8): 1717-1728 [8] 孙明轩,王郸维,陈彭年.有限区间非线性系统的重复学习控制[J].中国科学:信息科学,2010,40:433-444 Sun Mingxuan,Wang Danwei,Chen Pengnian.Repetitive learning control for non-linear system in a bounded domain[J].Scientia Sinica Informationis,2010,40:433-444(in Chinese) [9] Wang Xin,Feng Dongzhu.A study on dynamics of electric load simulator using spring beam and feedforward control technique[C]//2009 Chinese Control and Decision Conference.Piscataway,NJ: IEEE,2009:301-306

施引文献

资源附件(0)

访问统计