摘要
针对舵机运动对加载测试系统输出力矩的扰动作用,基于加载测试系统简化数学模型,比较研究转矩扰动补偿和转矩干扰综合补偿两种方式。在不改变系统结构前提下,分别将检测到的舵机和电机速度信号经补偿环节反馈到电机输入端,以消除扰动影响。仿真表明,第2种方式性能更优,引入PID反馈后能进一步提高系统性能。
Considering the impact of actuator dynamics to the load test system, the study aims to compare the torque disturbance compensation method and torque disturbance synthesis compensation method, both the two are based on the main mathematic model of system. The two kinds of methods can eliminate the disturbance from actuator through detecting the velocity of actuator and electric motor separately, while signals feed back to the input port through the compensation plant, without changing the system structure. Torque disturbance synthesis compensation method is proved more effective by numerical simulation, and the performance of system can be improved by adding with PID feedback control.
出处
《兵工自动化》
2007年第6期61-63,69,共4页
Ordnance Industry Automation
关键词
舵机加载测试系统
转矩扰动补偿
转矩干扰综合补偿
连接刚度
转动惯量
Actuator load test system
Torque disturbance compensation
Torque disturbance synthesis compensation
Coupled rigidity
Wheel inertia
