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针对电液负载模拟系统存在多余力且该多余力严重影响系统加载精度与控制性能的问题,建立了系统各部分以及整个系统的数学模型.通过对数学模型的研究,分析了系统多余力的产生机理,并建立了系统多余力的传递函数.提出了前馈PID复合控制的方法,并对该方法进行了仿真分析和实验研究.在仿真分析中,通过对多余力消扰前、引入前馈控制消扰后及引入复合控制消扰后3种情况的比较,说明前馈PID复合控制能够有效抑制系统多余力.实验结果进一步验证了前馈PID复合控制的有效性,同时实验结果显示在运动换向时系统多余力将出现突变,为下一步的研究指明了方向.
Aiming at the problem that there is surplus force in the electro-hydraulic load simulation system and the excess force seriously affects the loading accuracy and control performance of the system, a mathematical model of each part of the system and the whole system is established. By analyzing the mathematical model, Mechanism, and established the transfer function of the system surplus force.It put forward the method of feedforward PID compound control, and carried on the simulation analysis and the experiment research to this method.In the simulation analysis, the feedforward The comparison of the three cases after the control of jamming and the introduction of composite control jamming shows that the feedforward PID compound control can effectively restrain the system redundant force.The experimental results further verify the effectiveness of the feedforward PID compound control and the experimental results show that in the movement Commutation system surplus force will appear mutation, pointed out the direction for the next study.