基于舵机指令前馈的电液负载模拟器同步控制

电液负载模拟器是典型的带有强运动耦合的电液力(矩)伺服系统,克服由运动干扰造成的多余力是其控制的关键问题.针对于目前常用的同步补偿算法在消除多余力实际应用中存在的问题,提出了基于舵机指令前馈的同步补偿策略.该策略采用舵机速度指令信号和负载模拟器力矩反馈信号来实现精确的同步补偿,不需要舵机的速度信号、加速度信号以及阀控信号.同时该策略考虑了加载力矩对舵机输出速度的影响,相对于传统速度同步算法在大负载力矩跟踪下可得到更好的多余力消除效果,从而能实现更准确的速度同步补偿.针对于典型加载工况进行的仿真和实验结果表明,该策略能有效解决舵机运动扰动带来的多余力问题,进而提高动态加载精度.

Synchronizing compensation control of electro-hydraulic load simulator using command signal of actuator

Electro-hydraulic load simulator is a typical case of the force (torque) servo system which is strongly coupled with a hydraulic position system. How to eliminate the extraneous torque from motion disturbances is the key difficulty in electro-hydraulic load simulators. Based on theoretical analysis of traditional synchronizing compensation controllers, the improved synchronizing compensation algorithm was put forward. This algorithm can make full use of actuator's velocity command signal and load simulator's torque feedback signal, which does not need actuator's velocity signal, acceleration signal and servo-valve current signal. Due to utilizing load simulator's torque feedback signal, it can effectively eliminate the extraneous torque and achieve a more accurate synchronizing compensation than traditional velocity synchronizing controller in big gradient loading conditions. The comparison results based on simulations and experiments show that this algorithm is more effective to eliminate extraneous torque from motion disturbances and improve the dynamic torque tracking accuracy in various typical operating conditions.