CAJ | 학술논문

对一种微力矩高频高精度被动式电动负载模拟系统进行研究,提出采用反推控制方法来解决强力/位耦合问题.将系统视为单输入多输出系统,建立了其耦合动力学模型；通过引入适当的虚拟控制量来设计反推控制器,使系统误差具有期望的渐进形态,同时基于Lyapunov方法从理论上证明系统的稳定性.从仿真结果中可以看出,在高达60 Hz的正弦信号下,承载系统幅值跟踪误差约为0.5‰rad,相位滞后约为10°；同时加载系统幅值跟踪误差约为0.2％ N·m,相位滞后约为10°.仿真证明了该方法的可行性和有效性.
대일충미력구고빈고정도피동식전동부재모의계통진행연구,제출채용반추공제방법래해결강력/위우합문제.장계통시위단수입다수출계통,건립료기우합동역학모형；통과인입괄당적허의공제량래설계반추공제기,사계통오차구유기망적점진형태,동시기우Lyapunov방법종이론상증명계통적은정성.종방진결과중가이간출,재고체60 Hz적정현신호하,승재계통폭치근종오차약위0.5‰rad,상위체후약위10°；동시가재계통폭치근종오차약위0.2％ N·m,상위체후약위10°.방진증명료해방법적가행성화유효성.
A micro torque high-frequency high-precision passive electric load simulation system is researched,the paper proposes a backstepping control method to solve the strong force/position coupling problem.The system is seen as a single-input and multiple-output system,and a dynamic model of the coupling is established.By introducing an appropriate virtual control quantity,this paper designs a backstepping controller,which makes the system error have an expected progressive shape,and theoretically proves the system stability on the base of Lyapunov method.From the simulation results,a conclusion could be drawn that when the sine signal is up to 60 Hz,amplitude tracking error of bearing system is about 0.5‰ rad and phase lag is about 10°; At the same time,the amplitude tracking error of loading system is about 0.2％ N · m and phase lag is about 10° Therefore,the simulation results validate this method and prove the feasibility of this method.