Electromagnetic shock absorber test bed and control method thereof

Abstract

The invention belongs to the technical field of shock absorber detection equipment, and particularly relates to an electromagnetic shock absorber test bed and a control method thereof, and the electromagnetic shock absorber test bed comprises a bottom plate, guide columns, a lifting locking cross beam, a second driving cylinder, an electromagnetic driving mechanism, a static load supporting mechanism, a cooling structure and a control module; the electromagnetic driving mechanism drives the coil connecting piece and the actuating rod to apply accurate pressure to the shock absorber by controlling the magnitude and the direction of the current of the motor coil; the control module comprises two drivers, the four motor coil units are synchronously controlled by the two drivers, and one driver synchronously controls the two motor coil units; the two drivers are controlled by one driver control unit. The invention has the advantages of high precision, high speed, high acceleration, high dynamic performance, less wear movement, low noise, low operation cost, high control response, small overshoot, short steady state entering time and the like; electric energy direct drive is adopted, process energy conversion is not needed, and the equipment is high in efficiency, high in reliability, energy-saving and environment-friendly.

Description

Technical Field

[0001] The present invention belongs to the technical field of shock absorber testing equipment, and particularly relates to an electromagnetic shock absorber test bench and its control method. Background Art

[0002] With the rapid development of the automotive industry and construction machinery, the ride comfort and smoothness of vehicles have gradually become the core needs of users. As an important part of the suspension system, the performance of shock absorbers directly affects the safety and driving experience of vehicles. Therefore, the market has put forward higher requirements for high-performance and high-precision shock absorber test benches, not only requiring the test bench to adapt to complex test environments, but also demanding highly accurate and reliable test results.

[0003] Currently, in the field of vehicle shock absorber testing, the commonly used test benches are mainly based on electro-hydraulic servo actuators. This hydraulic actuator can convert hydraulic energy into mechanical energy, and according to the feedback of displacement sensors, it can accurately control the speed of the actuator through a high-response hydraulic servo valve, and precisely control the speed, direction, displacement, and force of the load. It has the advantages of fast response speed, large load stiffness, and strong control power. However, electro-hydraulic servo actuators have problems such as large energy consumption, complex equipment, and large floor space. At the same time, the hydraulic system needs to be frequently maintained, and the hidden danger of hydraulic oil leakage further increases the operating cost and risk.

[0004] In scenarios where high-response testing requirements are not high, some test benches use electric actuators. This system uses a servo motor to drive an eccentric wheel to achieve linear motion, avoiding the complexity and leakage risks of traditional hydraulic systems. However, due to the limitations of the eccentric wheel structure, electric actuators perform poorly in high-frequency test applications, and their test range is limited by the preset standard stroke. The wear of mechanical transmission components and the need for regular maintenance also limit their long-term reliability.

[0005] Due to the limitations of the existing technology, there is still room for improvement in the driving flexibility, detection accuracy, and system reliability of shock absorber test benches. In addition, under high-frequency operation, the heat dissipation problem of the drive system also needs to be solved urgently. If the equipment cannot dissipate heat effectively, high temperature will affect the working efficiency of the electromagnetic drive device and even shorten its service life. Summary of the Invention

[0006] Aiming at the problems existing in the prior art, the purpose of the present invention is to provide an electromagnetic shock absorber test bench and its control method, which can be realized to solve the problems of insufficient detection accuracy, high system complexity, and poor heat dissipation effect in the prior art.

[0007] To achieve the above purpose, the present invention provides the following technical solutions:

[0008] An electromagnetic shock absorber test bench, including a bottom plate, symmetrically and fixedly connected to the upper end face of the bottom plate are guide columns, on which a lifting and locking cross beam is sleeved, and at both ends of the lifting and locking cross beam are provided second driving cylinders for adjusting the height of the lifting and locking cross beam;

[0009] On the guide columns is sleeved a top plate, on the top of the top plate is provided a protective window, and at the bottom of the top plate is provided a driving chamber;

[0010] At the bottom of the top plate are provided an electromagnetic driving mechanism and a static load supporting mechanism, and the static load supporting mechanism is symmetrically distributed on both sides of the electromagnetic driving mechanism.

[0011] Further, the lifting and locking cross beam includes a cross beam sleeved on the guide columns at both ends respectively;

[0012] Connected to the side of the cross beam is a base, and connected to both sides of the base are first driving cylinders;

[0013] The telescopic end of the first driving cylinder is connected to a locking arm.

[0014] Further, the electromagnetic driving mechanism includes a coil connecting piece, connected to the top of the coil connecting piece is an action rod, and symmetrically arranged on both sides of the coil connecting piece are motor coils, and the motor coils are composed of multiple motor coil units connected in parallel.

[0015] Connected to the other two sides of the coil connecting piece are guide rails;

[0016] Connected to one side of the motor coil is a grating scale.

[0017] Further, a force sensor is installed below the cross beam, the force sensor is tightly connected through a pre-tightening piece, and the pre-tightening piece and the axis of the action rod are on the same straight line;

[0018] When testing the shock absorber, both ends of the shock absorber are respectively connected to the force sensor and the action rod through an upper fixture and a lower fixture.

[0019] Further, the static load supporting mechanism includes an air tank, on the top of the air tank is provided an air spring, and the air tank and the air spring are communicated with each other, one end of the air spring is connected with a connecting head, and the connecting head is connected with the coil connecting piece.

[0020] Further, an air conditioner is provided on the back of the driving chamber;

[0021] Between the air conditioner and the driving chamber are successively arranged from outside to inside a connecting plate, an external baffle and a wind guiding plate;

[0022] The side of the connecting plate is provided with an air outlet and a return air outlet in a penetrating manner;

[0023] The cold air of the air conditioner enters from the air outlet, passes through the channel formed between the external baffle and the air deflector, and finally discharges from the air return opening.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] Through the combination of the bottom plate, the guide posts, the lifting and locking cross beam and the second driving cylinder, the present invention ensures that the shock absorber can be accurately positioned and locked during the test. The height of the lifting and locking cross beam can be precisely controlled by the second driving cylinder to adapt to the installation requirements of shock absorbers with different heights. This structure avoids the problems of complex structure and frequent maintenance in traditional electro-hydraulic servo or mechanical systems, and can achieve the simplicity and flexibility of equipment operation, meeting the requirements for high performance and high precision in the field of vehicle shock absorber testing.

[0026] The setting of the electromagnetic drive mechanism realizes the efficient and controllable pressure impact on the shock absorber. By controlling the magnitude and direction of the current in the motor coil, the coil connecting piece and the action rod can accurately control the shock absorber and simulate the force condition under real working conditions. This design solves the problems of large energy loss and hydraulic leakage risk in traditional electro-hydraulic servo systems, and at the same time overcomes the defect that the electric actuator performs poorly in high-frequency test applications, significantly improving the control accuracy and response speed of the test bench.

[0027] The present invention adopts a static load support mechanism to provide a constant support force for the shock absorber to be tested through an air tank and an air spring.

[0028] To solve the problem of high temperature generated by the electromagnetic drive mechanism during long-term operation, the present invention provides a special cooling structure. Through the multi-layer combination of the air conditioner, the connecting plate, the external baffle and the air deflector, the heat in the drive chamber can be efficiently taken away, preventing the equipment from being affected by overheating. The cold air enters from the air outlet, flows through the channel and discharges from the air return opening, ensuring that the electromagnetic drive mechanism works at a stable temperature and extending the service life of the equipment. This heat dissipation solution overcomes the problem of reduced working efficiency caused by high temperature in traditional systems, ensuring the safety and stability of the test bench during long-term continuous operation.

[0029] The electromagnetic shock absorber test bench described in the present invention has the advantages of high precision (micrometer level), high speed (maximum speed of 4m / s), high acceleration (maximum acceleration up to 80G), high dynamic performance (greater than 120Hz), less wear movement, low noise, low operating cost, high control response, small overshoot, short steady-state entry time, etc.; it adopts direct electric drive without process energy conversion, with high equipment efficiency, high reliability, energy conservation and environmental protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic structural diagram of the present invention;

[0031] Figure 2 Schematic structural diagram of the present invention without a drive chamber;

[0032] Figure 3 Schematic split structural diagram of the present invention;

[0033] Figure 4 Schematic structural diagram of the lifting and locking crossbeam of the present invention;

[0034] Figure 5 Schematic structural diagram of the electromagnetic drive mechanism of the present invention;

[0035] Figure 6 Schematic structural diagram of the air conditioner of the present invention;

[0036] Figure 7 Schematic split structural diagram of the air conditioner of the present invention;

[0037] Figure 8 Schematic diagram of the closed-loop control principle of the drive control unit of the present invention;

[0038] Figure 9 Schematic diagram of the PIDF control principle of the drive control unit of the present invention;

[0039] Figure 10 Schematic diagram of the step control response of the system of the present invention.

[0040] In the attached drawings, the list of components represented by each reference numeral is as follows:

[0041] 1. Bottom plate;

[0042] 2. Guide post;

[0043] 3. Lifting and locking crossbeam; 31. Crossbeam; 311. Base; 32. Pre-tightening member; 33. First driving cylinder; 34. Locking arm;

[0044] 4. Second driving cylinder;

[0045] 5. Top plate;

[0046] 6. Electromagnetic drive mechanism; 61. Coil connecting member; 62. Motor coil; 63. Guide rail; 64. Grating scale; 65. Action rod;

[0047] 7. Static load support mechanism; 71. Air tank; 711. Air spring; 72. Connector;

[0048] 8. Protective window;

[0049] 9. Air conditioner; 91. Connecting plate; 911. Air outlet; 912. Air return opening; 92. External baffle; 93. Air guide plate; 10. Drive chamber. Detailed implementation method

[0050] In order to make the objectives and advantages of the present invention more clear and understandable, the present invention will be specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific implementation manners of the present invention, and does not strictly limit the scope of protection specifically claimed by the present invention.

[0051] Embodiment 1

[0052] Refer to Figure 1-7 , an electromagnetic shock absorber test bench, including a bottom plate 1; two guide columns 2 are symmetrically and fixedly connected to the upper end face of the bottom plate 1, and the guide columns 2 play a role of guiding and supporting in the test bench structure; an elevating and locking cross beam 3 is sleeved on the upper part of the guide column 2, and the elevating and locking cross beam 3 can move up and down along the axial direction of the guide column 2, so as to realize the adjustment of the installation height of the shock absorber; second driving cylinders 4 are installed at both ends of the elevating and locking cross beam 3, and the second driving cylinders 4 are used to precisely control the height and position of the elevating and locking cross beam 3 to ensure that the shock absorber to be tested is at a suitable test height; a top plate 5 is further installed on the bottom plate 1, and a protective window 8 is arranged on the top of the top plate 5 to protect the test area and ensure safety; a driving chamber 10 is arranged at the bottom of the top plate 5, and the driving chamber 10 is used to accommodate the heat generated during the test and dissipate heat through a cooling system; an electromagnetic driving mechanism 6 and a static load supporting mechanism 7 are further installed at the bottom of the top plate 5, and the static load supporting mechanism 7 is symmetrically distributed on both sides of the electromagnetic driving mechanism 6 to ensure that the shock absorber is uniformly and stably stressed during the test.

[0053] Refer to Figure 4 , the structure of the elevating and locking cross beam 3 includes a cross beam 31 sleeved on the guide column 2 at both ends respectively; a base 311 is fixedly connected to the side surface of the cross beam 31, and the base 311 serves as the installation base of the first driving cylinder 33 and provides reliable support for the first driving cylinder 33; first driving cylinders 33 are connected to both sides of the base 311, and the first driving cylinders 33 are the actuating devices for driving the locking arms 34, and control the rotation of the locking arms 34 through their telescopic actions; the telescopic ends of the first driving cylinders 33 are connected with the locking arms 34, and the locking arms 34 rotate under the drive of the first driving cylinders 33 and lock both ends of the cross beam 31 on the guide column 2 during their rotation to ensure the stability of the cross beam 31 during the test.

[0054] Refer to Figure 5, the electromagnetic drive mechanism 6 consists of a coil connector 61, a motor coil 62, and an action rod 65; the coil connector 61 is an important component connecting the motor coil 62 and the action rod 65, and transmits the motion of the electromagnetic drive to the action rod 65 through the connector; the action rod 65 is fixedly connected to the top of the coil connector 61, and the action rod 65 is used to directly act on the shock absorber to be tested during the test, so as to apply pressure and impact force; the motor coils 62 are symmetrically installed on both sides of the coil connector 61, and the motor coil 62 is composed of multiple motor coil units connected in parallel. The motor coil 62 controls the magnitude and direction of the current, thereby driving the movement of the coil connector 61 and the action rod 65 to achieve precise pressure application to the shock absorber.

[0055] Refer to Figure 5 , guide rails 63 are connected to the other two sides of the coil connector 61 respectively. The guide rails 63 are used to provide the movement guidance of the coil connector 61 to ensure the stability and accuracy during the movement process; a grating scale 64 is installed on one side of the motor coil 62. The grating scale 64, as a displacement measuring device, detects the displacement of the coil connector 61 in real time and feeds back the signal to the main control system to achieve precise control of the electromagnetic drive mechanism 6.

[0056] Refer to Figure 4-5 , a pre-tightening member 32 is fixedly connected to the middle part of the lower end of the cross beam 31. The structural design of the pre-tightening member 32 keeps it on the same straight line as the axis of the action rod 65 to ensure symmetrical force application; when testing the shock absorber, both ends of the shock absorber to be tested are fixedly connected to the force sensor and the action rod 65 through the upper fixture and the lower fixture respectively, ensuring that the shock absorber can withstand the pressure impact of the action rod 65 during the test, so as to effectively simulate the force condition under the real working condition.

[0057] Refer to Figure 3 , the static load support mechanism 7 includes an air tank 71 and an air spring 711; the air tank 71 provides air source for the air spring 711 and keeps the two connected to each other. The air tank 71 realizes the constant support force for the shock absorber to be tested by adjusting the air pressure of the air spring 711 to ensure uniform force on the shock absorber during the test; one end of the air spring 711 is connected with a connector 72, and the connector 72 is fixedly connected to the coil connector 61. Through the connector 72, the linkage between the static load support mechanism 7 and the electromagnetic drive mechanism 6 is realized, so that the air spring 711 can provide stable support for the shock absorber to be tested.

[0058] Refer to Figure 7, an air conditioner 9 is provided on the back of the drive chamber 10, and the air conditioner 9 provides a cooling air flow for the drive chamber 10; a connecting plate 91, an external baffle 92 and a wind guide plate 93 are sequentially arranged between the air conditioner 9 and the drive chamber 10 from outside to inside to form a ventilation structure for efficient heat dissipation; an air outlet 911 and an air return port 912 are penetratingly provided on the side surface of the connecting plate 91, and the air outlet 911 is used to send cold air from the air conditioner 9 into the interior of the drive chamber 10; the cold air passes through the channel between the external baffle 92 and the wind guide plate 93 and is discharged from the air return port 912, thereby taking away the heat generated when the electromagnetic drive mechanism 6 in the drive chamber 10 operates and avoiding affecting the equipment performance due to high temperature.

[0059] Embodiment 2:

[0060] The first driving cylinder 33 and the second driving cylinder 4 can be air cylinders, electric cylinders or hydraulic cylinders. Preferably, the second driving cylinder 4 is an electric cylinder and the first driving cylinder 33 is an air cylinder.

[0061] The working principle of the present invention is as follows:

[0062] During use, according to the height of the shock absorber to be detected, the height of the lifting and locking cross beam 3 is adjusted by the second driving cylinder 4. When the appropriate height is adjusted, the first driving cylinder 33 drives the locking arm 34 to rotate. As the locking arm 34 rotates, the two ends of the cross bar 31 will be locked on the guide post 2; then one end of the shock absorber to be detected is connected to one end of the action rod 65 through the lower fixture, and the other end of the shock absorber is connected to the force sensor below the lifting and locking cross beam 3 through the upper fixture;

[0063] Then, by regulating the air pressure inside the air spring 711, the air spring 711 provides a constant supporting force for the shock absorber to be detected;

[0064] By controlling the magnitude and direction of the current flowing through the motor coil 62, the movement direction and magnitude of the coil connecting rod 61 are further driven. As the coil connecting rod 61 moves, the action rod 65 installed on its top is driven to move. When the action rod 65 moves, the shock absorber connected between the action rod 65 and the pre-tightening member 32 can be subjected to a pressure impact, and the performance of the shock absorber can be detected;

[0065] When the electromagnetic drive mechanism 6 is operating, the air conditioner installed outside the air guide mechanism 9 will send cold air into the interior of the drive chamber 10 through the air outlet 911. The cold air will circulate in the drive chamber 10 and flow out through the air return port 912, so that the heat generated when the electromagnetic drive mechanism 6 operates can be taken away, avoiding the electromagnetic drive mechanism 6 from getting too hot.

[0066] Embodiment 3

[0067] The described electromagnetic shock absorber test bench further includes a control module. The control module includes two drivers, and the four motor coil units are synchronously controlled by the two drivers. One driver synchronously controls two motor coil units;

[0068] The two drivers are controlled by one driver control unit.

[0069] Refer to Figure 8 , a control method for an electromagnetic shock absorber test bench, applicable to the above driver control unit, including the following steps:

[0070] Step 1: The driver control unit receives the displacement command value and the actual value, takes the difference between the displacement command value and the actual value as the input value of the PID system, and calculates the PID output value through the PID system.

[0071] In the above Step 1, the displacement command value can be fed back by the absolute encoder displacement position. The actual value refers to the displacement generated by the previous control of the driver control unit. When the driver control unit controls for the first time, the actual value can be set to an initial value according to actual needs.

[0072] Step 2: The driver control unit receives the velocity signal after differentiating the displacement, and calculates the feedforward compensation value according to the velocity signal; the driver control unit receives the internal current signal of the driver, and calculates the feedback compensation value according to the current signal; the driver control unit calculates the control comprehensive output quantity according to the PID output value, the feedforward compensation value, and the feedback compensation value; the driver control unit acts on the driver according to the control comprehensive output quantity, so that the actuator generates an actual displacement command, and the driver control unit receives the actual displacement command and takes it as the actual value for the next control.

[0073] In the above Step 2, after obtaining the control comprehensive output quantity by means of auxiliary feedback and feedforward in the iPulsar control system of Servotest, it acts on the servo driver. After the actuator generates a displacement quantity, it is further fed back to the controller, forming a closed-loop feedback control loop. In the Servotest control system, PIDF introduces velocity feedforward, motor current auxiliary compensation control and cooperates with the compensation strategy of ICS, which can meet the requirements of most application scenarios, such as the damping force test of shock absorbers, road spectrum iteration test or closed-loop application control of other products.

[0074] Among them, the motor current auxiliary compensation refers to the Auxfeedback control compensation. The compensation strategy of ICS is pure software compensation.

[0075] Optionally, the driver control unit in the above Step 2 calculates the control comprehensive output quantity according to the PID output value, the feedforward compensation value, and the feedback compensation value, which is realized through the following formula:

[0076] R(s)K v G v (s)+(R(s)-C 1 (s))G PID (s))G 1 (s)=C 2 (s)# (1)

[0077] Among them, R(s): Laplace transform of the input signal, and the obtained value is the displacement command value; C 1 (s): Laplace transform of the output signal, and the obtained value is the actual value; G v (s): Transfer function of the speed control loop, and the obtained value is the feedforward compensation value; G PID (s): Transfer function of the PID controller, and the obtained value is the PID output value; G 1 (s): Transfer function of the controlled object; C 2 (s): Laplace transform of the output signal, and the obtained value is the control comprehensive output quantity; K v : Speed control loop gain; K p : Proportional gain of the PID controller; K i : Integral time constant of the PID controller; K d : Derivative time constant of the PID controller; a: Parameter in the controlled object model; s: Complex variable in the Laplace transform.

[0078] The evolution process of the above formula (1) is as follows:

[0079] R(s)K v G v (s)G 1 (s)+R(s)G PID (s)G 1 (s)=C 2 (s)+C 1 (s)G PID (s)G 1 (s)

[0080]

[0081] Refer to Figure 9 , after substituting the corresponding parameters:

[0082]

[0083] T i is the integral time constant, T d is the derivative time constant.

[0084] Refer to Figure 10, after the speed feedforward and motor current auxiliary compensation control are introduced by PIDF, the step control response of the system is shown as the 5th curve (counting from top to bottom) in the figure, with high control response, small overshoot and short settling time.

[0085] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention. The structures, devices and operation methods not specifically described and explained in the present invention are implemented according to the conventional means in the art without special description and limitation.

Claims

1. An electromagnetic vibration damper test bench, characterized in that: The invention comprises a bottom plate (1), the upper end surface of the bottom plate (1) being symmetrically fixedly connected with a guide column (2), the guide column (2) being sleeved with a lifting and locking crossbeam (3), and both ends of the lifting and locking crossbeam (3) being provided with a second driving cylinder (4) for adjusting the height of the lifting and locking crossbeam (3); A top plate (5) is sleeved on the guide column (2), a protective window (8) is provided on the top of the top plate (5), and a driving compartment (10) is provided on the bottom of the top plate (5); An electromagnetic drive mechanism (6) and a static load support mechanism (7) are provided at the bottom of the top plate (5), and the static load support mechanism (7) is symmetrically distributed on both sides of the electromagnetic drive mechanism (6); The electromagnetic drive mechanism (6) comprises a coil connector (61), the top of the coil connector (61) is connected to an actuating rod (65), and motor coils (62) are symmetrically arranged on both sides of the coil connector (61), and the motor coil (62) is composed of four motor coil units connected in parallel; It also includes a control module, wherein the control module includes two drivers, the four motor coil units are synchronously controlled by the two drivers, and one driver synchronously controls the two motor coil units; Both drives are controlled by one drive control unit.

2. The electromagnetic vibration absorber test bench according to claim 1, characterized in that: The lifting and locking crossbeam (3) comprises a crossbeam (31) with two ends respectively sleeved on the guide column (2); The side of the crossbeam (31) is connected to a base (311), and both sides of the base (311) are connected to a first driving cylinder (33); The telescopic end of the first driving cylinder (33) is connected to a locking arm (34).

3. The electromagnetic vibration absorber test bench according to claim 1, characterized in that: The other two side surfaces of the coil connecting member (61) are connected to guide rails (63); One side of the motor coil (62) is connected to a grating ruler (64).

4. The electromagnetic vibration absorber test bench according to claim 1, characterized in that: A force sensor is installed below the cross beam (31), and the force sensor is fastened by setting a pre-tightening member (32), and the axis of the pre-tightening member (32) and the actuating rod (65) are in the same straight line; When the shock absorber is tested, the two ends of the shock absorber are respectively connected to the force sensor and the action rod (65) through the upper clamp and the lower clamp.

5. The electromagnetic vibration absorber test bench according to claim 1, characterized in that: The static load support mechanism (7) comprises a gas tank (71), an air spring (711) is arranged on the top of the gas tank (71), and the gas tank (71) and the air spring (711) are connected to each other, one end of the air spring (711) is connected to a connector (72), and the connector (72) is connected to the coil connector (61).

6. The electromagnetic vibration absorber test bench according to claim 1, characterized in that: The back of the driving compartment (10) is provided with an air conditioner (9); A connecting plate (91), an external baffle (92) and an air guide plate (93) are sequentially arranged between the air conditioner (9) and the driving compartment (10) from the outside to the inside; An air outlet (911) and an air return outlet (912) are formed through the side surface of the connecting plate (91); The cold air from the air conditioner (9) enters from the air outlet (911), passes through the channel formed between the external baffle (92) and the air guide plate (93), and is finally discharged from the return air outlet (912).

7. A control method for an electromagnetic vibration absorber test bench, applicable to a driver control unit according to any one of claims 1 to 6, characterized in that: The following steps are involved: The driver control unit receives the displacement command value and the actual value, takes the difference between the displacement command value and the actual value as the input value of the PID system, and calculates the PID output value through the PID system; The driver control unit receives a speed signal after displacement differentiation, and calculates a feedforward compensation value according to the speed signal; The driver control unit receives the internal current signal of the driver and calculates the feedback compensation value according to the current signal; the driver control unit calculates the control comprehensive output according to the PID output value, the feedforward compensation value and the feedback compensation value; The driver control unit acts on the driver according to the control comprehensive output, so that the actuator generates an actual displacement instruction. The driver control unit receives the actual displacement instruction and uses it as the actual value for the next control.

8. The control method of the electromagnetic vibration absorber test bench according to claim 7, characterized in that: The driver control unit calculates the control comprehensive output according to the PID output value, the feedforward compensation value and the feedback compensation value, which is implemented by the following formula: (R(s)K v G v (s)+(R(s)-C1(s))G PID (s))G1(s)=C2(s) Wherein, R(s): Laplace transform of the input signal, the obtained value is the displacement command value; C1(s): Laplace transform of the output signal, the obtained value is the actual value; G v (s): speed control loop transfer function, the obtained value is the feedforward compensation value; G PID (s): transfer function of PID controller, the value obtained is the PID output value; G1(s): transfer function of the controlled object; C2(s): Laplace transform of the output signal, the value obtained is the control comprehensive output; K v : Speed ​​control loop gain; K p : PID controller proportional gain; K i : PID controller integral time constant; K d : differential time constant of PID controller; a: parameter in the controlled object model; s: complex variable in Laplace transform.

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