伺服作动系统性能测试平台的多余力抑制方法
2025,47(1):214-221
摘要：
为了解决结构不变性补偿方法抑制多余力的实时调参问题，建立了伺服作动系统性能测试平台的数学模型和仿真模型，提出了速度前馈补偿器的解耦控制方法，设计了模糊控制器以抑制多余力。对比了传统比例-积分（proportional-integral，PI）控制、传统PI前馈补偿控制和模糊PI前馈补偿控制三种控制方法对测试平台多余力的抑制效果。仿真结果表明，模糊PI前馈补偿控制方法可以提高测试平台的加载精度，对多余力的抑制效果最为显著。通过试验与仿真的对比，验证了该控制方法的有效性，为伺服作动系统测试平台实现大推力、高精度加载提供理论参考。
为了解决结构不变性补偿方法抑制多余力的实时调参问题，建立了伺服作动系统性能测试平台的数学模型和仿真模型，提出了速度前馈补偿器的解耦控制方法，设计了模糊控制器以抑制多余力。对比了传统比例-积分（proportional-integral，PI）控制、传统PI前馈补偿控制和模糊PI前馈补偿控制三种控制方法对测试平台多余力的抑制效果。仿真结果表明，模糊PI前馈补偿控制方法可以提高测试平台的加载精度，对多余力的抑制效果最为显著。通过试验与仿真的对比，验证了该控制方法的有效性，为伺服作动系统测试平台实现大推力、高精度加载提供理论参考。
基金项目：
航空科学基金资助项目（20200051053001）；陕西省自然科学基础研究计划资助项目（2020JM-147）
航空科学基金资助项目（20200051053001）；陕西省自然科学基础研究计划资助项目（2020JM-147）
Redundant force suppression method of servo actuation system performance test platform
YUAN Binlin
College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073 , China ;
Sichuan Tengden Sci-tech Innovation Co.,Ltd., Chengdu 610000 , China
ZHANG Shifeng
College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073 , China
College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073 , China ;
Sichuan Tengden Sci-tech Innovation Co.,Ltd., Chengdu 610000 , China
ZHANG Shifeng
College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073 , China
Abstract：
In order to solve the problem of the real-time parameter adjustment when suppressing redundant force by the structural invariance compensation method, a mathematical model and a simulation model of a servo actuation system performance test platform were established, respectively. A decoupling control method for speed feedforward compensator was proposed, and a fuzzy controller was designed to suppress the redundant force. The inhibition effects of the three control methods including the traditional PI(proportional-integral) control, traditional PI feedforward compensation control and fuzzy PI feedforward compensation control on the redundant force of the test platform were compared. Simulation results show that the loading accuracy of the test platform can be improved by the fuzzy PI feedforward compensation control method with the most significant suppression effect on the redundant force. The effectiveness of the proposed control method was verified by the comparison between the experiments and simulations, which provides a theoretical reference for the servo actuation system test platform to loading with heavy thrust and high precision.
In order to solve the problem of the real-time parameter adjustment when suppressing redundant force by the structural invariance compensation method, a mathematical model and a simulation model of a servo actuation system performance test platform were established, respectively. A decoupling control method for speed feedforward compensator was proposed, and a fuzzy controller was designed to suppress the redundant force. The inhibition effects of the three control methods including the traditional PI(proportional-integral) control, traditional PI feedforward compensation control and fuzzy PI feedforward compensation control on the redundant force of the test platform were compared. Simulation results show that the loading accuracy of the test platform can be improved by the fuzzy PI feedforward compensation control method with the most significant suppression effect on the redundant force. The effectiveness of the proposed control method was verified by the comparison between the experiments and simulations, which provides a theoretical reference for the servo actuation system test platform to loading with heavy thrust and high precision.
收稿日期：
2022-09-01
2022-09-01
