摘要
电动负载模拟器可以模拟飞行器飞行过程中舵机承受的铰链力矩,是舵机测试和半实物仿真的关键设备之一。论文分析了电动负载模拟器的组成及工作原理,建立了数字仿真模型,详细分析了电动负载模拟器的特点,通过采用力变化速度反馈改善了系统的阻尼特性,设计了基于偏差最优的PID控制器,并基于不变性原理对舵机运动进行补偿,实现了电动负载模拟器的快速、高精度控制,最后通过仿真验证了控制系统设计的正确性。
Aim. To our knowledge, most R＆D torque control simulators are motor driven. In our opinion, existing DC motor-driven torque control simulators need to be improved in two respects, which are more convenient to be explained later. In the full paper, we explain our two improvements in some detail; in this abstract, we just add some pertinent remarks to naming the first two sections. The first section is. the establishment of our model for DC motor-driven torque control simulator and its analysis. The second section is ： the design of our control system. Its three subsections are ： feedback of the speed of variation of torque （subsection 2. 1）, the design of optimal PID controller（subsection 2.2） and the rudder movement compensation（subsection 2. 3）. In subsection 2.1, the contrast of the step response curves of different gain coefficients shows that, when the gain coefficient equals 0. 003, the control system responds quickly and has the best damping characteristics; this is the first improvement. In subsection 2.2, we design our PID controller based on the minimum error principle. In subsection 2.3, we use the invariability theory to compensate for the rudder movement, thus achieving the rapid and accurate control of the DC motor-driven torque control simulator; this is the second improvement. Finally we simulate our improved control system under different torque gradients and frequency bands. The simulation results, shown in Fig. 6 and Table 3, indicate preliminarily that when the torque gradient is smaller than 4 N ＊ m/（°） and the maximum response frequency is larger than 4 Hz, the control system performs best. The simulation results also indicate that the rudder movement is effectively compensated for when the torque gradient is small.
出处
《西北工业大学学报》
EI
CAS
CSCD
北大核心
2008年第5期621-625,共5页
Journal of Northwestern Polytechnical University
关键词
电动负载模拟器
PID控制
不变性原理
： torque control, simulator, PID controller, invariability theory
