CAJ | 학술논문

为保证电动负载模拟器力矩精确加载，设计了基于迭代学习控制和舵机位置前馈补偿结合的复合力矩控制器。引入弹性杆结构以提高系统稳定性及加载精度，并从系统响应速度、频宽及稳定性等方面对弹性杆刚度约束进行了分析。建立了控制系统模型，在三闭环结构基础上，引入了舵机位置前馈补偿。为保证正弦负载模拟效果，设计了基于指令力矩幅值和相位修正的迭代学习控制器，并基于P型控制器实现对幅值和相位的迭代学习。最后，分别进行了力矩加载及多余力矩抑制实验，结果证明了该方法的可行性及有效性。
위보증전동부재모의기력구정학가재，설계료기우질대학습공제화타궤위치전궤보상결합적복합력구공제기。인입탄성간결구이제고계통은정성급가재정도，병종계통향응속도、빈관급은정성등방면대탄성간강도약속진행료분석。건립료공제계통모형，재삼폐배결구기출상，인입료타궤위치전궤보상。위보증정현부재모의효과，설계료기우지령력구폭치화상위수정적질대학습공제기，병기우P형공제기실현대폭치화상위적질대학습。최후，분별진행료력구가재급다여력구억제실험，결과증명료해방법적가행성급유효성。
A composite torque controller combining iterative learning control and the feedforward compensation of a rudder angle was built for an electric load simulator in order to increase loading accuracy. The spring beam was used to improve the system stability and the loading accuracy, and constraints to the stiffness coefficient of the spring beam were analyzed based on system response speed, frequency width and stability. The mathematical models of plants were established, and three close loops were used. The feedforward compensation of the rudder angular displacement was introduced into the torque controller. The iterative learning controller was designed by modifying the magnitude and the phase of the command torque to improve loading effects, and P-type iterative learning controller was used. Finally, experiments of loading torque and testing the extraneous torque were performed, and experiment results proved that this controller is effective in achieving a perfect torque tracking accuracy and restraining the extraneous torque for electric load simulators.