CAJ | 학술논문

由于多余力矩严重影响了电动负载模拟器的加载性能，提出了一种复合控制方法对该问题进行研究。首先考虑承载对象运动带来的干扰，建立了系统的数学模型；然后，针对控制系统单独采用前馈补偿或自适应控制方法的局限性，进行了基于前馈控制和模型参考自适应控制的复合控制系统设计，并利用Lyapunov函数的方法构造了自适应控制器。最后的仿真结果表明，采用复合控制方法能够大幅度消除电动负载模拟器的多余力矩，验证了控制策略的可行性。
유우다여력구엄중영향료전동부재모의기적가재성능，제출료일충복합공제방법대해문제진행연구。수선고필승재대상운동대래적간우，건립료계통적수학모형；연후，침대공제계통단독채용전궤보상혹자괄응공제방법적국한성，진행료기우전궤공제화모형삼고자괄응공제적복합공제계통설계，병이용Lyapunov함수적방법구조료자괄응공제기。최후적방진결과표명，채용복합공제방법능구대폭도소제전동부재모의기적다여력구，험증료공제책략적가행성。
Since the loading performances of motor-driven load simulator are seriously influenced by the extra torque in the loading process,a composite control method is presented for solving the problem. Firstly,the model of load system is build by considering the interference impact of the steering gear. Then,to overcome the limitation of the feed-forward compensation or the adaptive control method separately used for the system,the composite control strategy using feed-forward control and model reference adaptive control is proposed to design the control system,and the adaptive controller is designed by means of constructing Lyapunov function. Finally,simulation results show that the composite control can substantially reduce the extra torque,and the correctness of the control method is validated.