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Passive type load simulator and superfluous torque suppression method

A load simulator, passive technology, applied in the direction of electric controllers, controllers with specific characteristics, etc., can solve problems affecting system stability, etc., to improve the utilization of weight space, improve robustness and tracking accuracy, The effect of improving loading accuracy

Active Publication Date: 2017-09-19
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the traditional CMAC controller will generate cumulative errors when tracking continuously changing signals, which will cause the CMAC network to over-learn and seriously affect the stability of the system.

Method used

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  • Passive type load simulator and superfluous torque suppression method
  • Passive type load simulator and superfluous torque suppression method
  • Passive type load simulator and superfluous torque suppression method

Examples

Experimental program
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Effect test

Embodiment

[0118] In order to verify the present invention, the selected loading motor 1 of the embodiment is the AKM53H-320VDC of Kollmorgen, the torque speed sensor 4 is Interface T3 30Nm, the electric steering gear 7 is KZZ-83, and the controller is the NI PXIe-8840RT real-time controller;

[0119] In order to compare and verify the suppression effect of excess torque, this method is compared with the commonly used disturbance feed-forward compensation method based on the principle of structural invariance. The control block diagram of the principle of structural invariance is as follows: Figure 4 as shown, Figure 4 middle, T r * (s) is the input of the system, T L (s) is the output, the forward channel is controlled by G 1 (s), G 2 (s), G 3 (s) Composition, G c (s) is a feed-forward compensation controller; set the current loop G iq (s) The controller parameter is: K CP =3.6,K CI =320,K Cω =1000; set position ring G p (s) The controller parameter is: P 1 =1.62,I 1 =0.1...

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Abstract

The invention discloses a passive type load simulator and a superfluous torque suppression method. The superfluous torque suppression method includes modeling an electric steering engine with the high speed reduction ratio indirect driving scheme and analyzing the interference torque of the electric steering engine; modeling a loading motor and an intermediate link and constructing a passive type load simulator mathematic model; analyzing the uncertainty of the constructed model and setting a composite control structure; and at the end, drawing a superfluous torque suppression curve to complete the suppression of the superfluous torque of the passive type load simulator. The method can effectively suppress the superfluous torque generated by the passive type load simulator, thereby improving the tracking and control accuracy.

Description

technical field [0001] The invention belongs to the technical field of control devices, and in particular relates to a passive load simulator and a redundant moment suppression method. Background technique [0002] In the development process of the load simulator, the use of electric loading can effectively reproduce various loads under the actual working conditions of the electric steering gear, and can carry out predictive automatic testing of the technical performance indicators of the steering gear system in the laboratory environment. The development cost can be saved, the development period can be shortened, and the reliability and success rate can be effectively improved at the same time. [0003] Generally, the load simulator is fixedly connected to the shaft of the steering gear, and the movement of the steering gear will interfere with the load simulator and become a redundant force. For the steering gear, the loading torque will cause external interference to the...

Claims

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Application Information

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IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 范元勋徐志伟
Owner NANJING UNIV OF SCI & TECH
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