摘要
建立了电液负载模拟器的精确数学模型,更加深刻地揭示了系统的本质,证明多余力不仅与舵机扰动速度有关,还和扰动加速度有关,在此基础上改进了传统的结构不变性原理。试验证明了复杂数学模型的正确性和对系统消扰方法的指导作用。
The electro-hydraulic torque load simulator is typical torque servo control systems with motion disturbance. The conventional mathematical model is too simple for the study on the high precise load simulator, especially on the description of motion disturbance. Normally the structure-invariable principle is adopted to reduce disturbance based on the simple model. There some difference between theory and practice. The complex mathematical model of the load simulator is derived, which discloses the characteristics of the system deeply. It proves the extraneous force is not only related to the actuator velocity, but also related to the actuator accelerator. Furthermore, the influence to the system performance is analyzed. The test proves complex mathematical model and indicates the validity for reducing the disturbance by speed and accelerator feedforward.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2002年第11期31-35,共5页
Journal of Mechanical Engineering
基金
国家自然科学基金资助项目(50075006)。
关键词
电液负载模拟器
多余力
数学模型
结构不变性原理
Electro-hydraulic load simulator Extraneous force Mathematical model Structure-invariable principle
