抑制电液力矩控制系统的多余力矩的新方法

针对电液力矩负载模拟器的多余力矩的抑制问题,分析了现有抑制方法的优缺点.在考虑力矩传感器刚度和加载侧惯量影响的情况下,建立了电液力矩加载系统的动态模型,指出多余力矩不仅与运动速度干扰有关,而且还与运动加速度干扰和加速度的变化率干扰有关.在此基础上给出了一种从职能分工角度抑制多余力矩更有效的控制方法--混合控制法.通过对所开发研制的一种电液力矩负载模拟器的试验表明,经辨识所得出的多余力矩的变化规律与理论结果完全一致,新方法补偿多余力矩的效果大为提高,且具有较强的适应性.

NEW METHOD TO RESTRAIN SUPERFLUOUS MOMENT OF ELECTRO-HYDRAULIC MOMENT CONTROL SYSTEM

Aiming at the problems of rejecting to superfluous moment of electrohydraulic moment control system, the advantages and defects of the existent rejecting methods are analyzed. Under the conditions to consider the influence of the inertia of loading side and the stiffness of torque sensor, the dynamic models are established, the conclusion that the superfluous moment is related to the motion velocity, acceleration, and the differential of acceleration is presented. On the basis of this dynamic model, a more effective control method to reject to extraneous moment from the view point of the division and cooperation of the function of the controller, i. e. hybrid control method, is proposed. The experiment of which a kind of electrohydraulic moment load simulator has been developed shows that the law of the superfluous moment acquired by means of identification is in keeping with theoretical result and the new method is of excellent compensating effect to the superfluous moment, so that the quality of the transient procedure is effectively developed.