被动加载的内部反馈控制方法

提出电液加载的内部变量反馈控制方法。通过对可测量的内部变量反馈，补偿了活塞运动时流量的变化，使加载系统的跟踪没有滞后。反馈以后，改变了系统传递函数和动态性能，并将舵机运动干扰输出等效为一个较小的量。原理分析证明，采用类似于PID形式的内部反馈，可消除舵机运动的速度和加速度干扰。仿真结果表明，内部反馈在主从电液跟踪加载控制中能减小多余力的影响，系统特性的改善优于传统的前馈方法。

Internal Variable Feedback Control in Electro-hydraulic Loading

The internal feedback control principle was proposed for force tracing control of electro-hydraulic loading servo-system.A measurable internal variable signal was feedbacked to compensate flow,so that the loading system tracked position system without delay.After feedback control,the transfer function of loading system was changed and the dynamic performance was improved,the extra force in system output was limited to small range.It is proved that the disturbance velocity,acceleration of position is eliminated through internal feedback of PID form.The conclusions are: internal feedback has superior performance to a conventional feedforward control in master-slave system force tracking electro-hydraulic loading to reduce disturbance force and improve the dynamic behavior.