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本文研制了ETLS的实验样机,建立了考虑加载系统摩擦非线性的ETLS综合数学模型。本文研究舵机系统位置扰动造成的多余力矩干扰问题,提出基于舵机系统输出角速度的前馈补偿控制进行抑制;考虑到加载系统的摩擦非线性问题,本文采用基于死区逆的方法进行补偿。接着,本文在力矩加载中存在幅值衰减和相位滞后问题上,采用基于最小均方差(least mean square error,LMSE)的幅相控制算法进行抑制以提高ETLS的加载性能,并提出基于Sigmoid函数变步长LMSE的幅相控制算法减小算法中收敛速度和稳态精度对步长需求相互矛盾,以提高算法整体改善。最后,通过仿真和实际实验,验证本文干扰力矩抑制和加载性能改善方法的有效性,在0.5 Hz和5 Hz频率下,基于本文方法的跟踪精度分别提高了87.0%和64.9%。
In this paper, an ETLS experimental prototype was developed and an ETLS comprehensive mathematical model considering the nonlinear friction of loading system was established. In this paper, the problem of extra torque caused by the disturbance of the position of the steering gear system is studied. The feedforward compensation control based on the output angular velocity of the steering gear system is put forward. Supposing the nonlinear friction problem of the loading system, the dead-zone inverse method is adopted in this paper. Then, based on the problem of amplitude attenuation and phase lag in torque loading, this paper uses amplitude-phase control algorithm based on the least mean square error (LMSE) to suppress and improve the loading performance of ETLS. Based on Sigmoid function transformation Step size LMSE amplitude and phase control algorithm to reduce convergence speed and steady-state accuracy of the algorithm conflicting requirements on the step to improve the overall improvement of the algorithm. Finally, through the simulation and practical experiments, the effectiveness of the method to improve the disturbance torque suppression and loading performance is verified. The tracking accuracy of this method is improved by 87.0% and 64.9% respectively at 0.5 Hz and 5 Hz.