电动负载模拟器多余力矩产生机理与抑制_李成功.pdfVIP

2006 年 2 月 北 京 航 空 航 天 大 学 学 报 February　2006 　 　　 第32 卷 第2 期 Journal of Beijing University of Aeronautics and Astronautics Vol.32　No.2 电动负载模拟器多余力矩 生机理及抑制 李成功　　靳红涛　　焦宗夏 (北京航空航天大学 自动化科学与电气工程学院, 北京 100083) 　　摘　　　要:介绍了直流力矩电机驱动的电动负载模拟器的机械结构和工作原理,建立 了电动负载模拟器执行机构的数学模型并用方框图表示.分析了直流力矩电机的机械特性并 指出其正常工作的范围.分析了电动负载模拟器在启动过程、正常运行和换向过程中多余力矩 生的机理,提出用基于结构不变性原理的前馈补偿方案来补偿多余力矩.仿真结果从理论上 证明了前馈补偿方案可以很好地解决多余力矩带来的干扰,实验结果也证明了前馈补偿方案 的有效性和可行性. 关　键　词:电动负载模拟器;多余力矩;结构不变性;干扰抑制 + 中图分类号:TP 271 .4 文献标识码:A　　　　文 章编 号:1001-5965(2006)02-0204-05 Mechanism and suppression of extraneous torque of motor driver load simulator Li Chenggong 　Jin Hongtao 　Jiao ongxia (School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China) Abstract :Based on an introduction to the mechanical structure and operating principle of the load simulator drived by the direct current torque motor, a mathematical model of the actuating mechanism of the electrical loading system was founded and was expressed by means of block diagram.The mechanical characteristic of the direct cur- rent torque motor and the operating range were studied.The production mechanism of the extraneous torque during the start-up, operating mode and reversing of the motor-drive load simulator was analyzed.A method of feedforward compensating the extraneous torque based on the principle of structure invariance was promoted.The result of the simulation shows theoretically that the feedforward compensating can reduce the interference caused by the extrane- ous torque effectively.The feasibility and effectivity of the method are also proved by experiments.