直线电动力加载系统多余力抑制方法

对基于电动推缸的直线力加载系统多余力抑制方法进行研究。由于被测产品启动/停止瞬间的速度突变，力加载系统不能及时响应，造成加载系统多余力的产生，引起巨大的力超调。采用基于结构补偿和速度补偿的复合控制方法对多余力进行抑制，并设计非线性控制器。试验结果表明：尽管电动推缸存在较强的非线性因素，该方法仍能明显降低大惯量力加载系统的多余力。

Superfluous Force Eliminating Method for Linear Force Electrical Loading System

The superfluous force eliminating method for linear force loading system based on electric cylinder was studied. Due to the sudden change of the speed of the tested product at the moment of starting/stopping, the force loading system cannot respond in time, resulting in the generation of extra force of the loading system and huge force overshoot. A compound control method based on structure compensation and velocity compensation was used to eliminate the surplus force, and a non-linear controller was designed. The test results show that the method can be used to obviously eliminate the superfluous force of the system loaded with large inertia force in spite of the electric cylinder with strong nonlinear factor.