对一种微力矩高频高精度被动式电动负载模拟系统进行研究,提出采用反推控制方法来解决强力/位耦合问题。将系统视为单输入多输出系统,建立了其耦合动力学模型;通过引入适当的虚拟控制量来设计反推控制器,使系统误差具有期望的渐进形态,同时基于Lyapunov方法从理论上证明系统的稳定性。从仿真结果中可以看出,在高达60Hz的正弦信号下,承载系统幅值跟踪误差约为0.5‰rad,相位滞后约为10°;同时加载系统幅值跟踪误差约为0.2%N.m,相位滞后约为10°。仿真证明了该方法的可行性和有效性。 A micro-torque, high-frequency and high-precision passive electric load simulation system is studied, and a backstepping control method is proposed to solve the problem of strong / bit coupling. The system is considered as a single-input multi-output system, and its coupling dynamics model is established. By introducing an appropriate virtual control volume to design a backstepping controller, the system error is expected to have a gradual asymptotic form. At the same time, based on the Lyapunov method, Stability. It can be seen from the simulation results that under the sine signal of up to 60Hz, the tracking error of the bearing system is about 0.5 ‰ rad and the phase lag is about 10 °. At the same time, the amplitude tracking error of the loaded system is about 0.2% Nm, About 10 °. Simulation shows that the method is feasible and effective.