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为抑制由舵机主动运动产生的多余力矩以实现负载台的恒力矩加载,基于理论建模和频响辨识建立了系统数学模型,用H∞控制方法抑制多余力矩,设计了H∞控制器。仿真和实验结果证明此种抑制多余力矩方法有效。
In order to restrain the unnecessary torque generated by the servo active movement to realize the constant moment loading of the load platform, the mathematical model of the system is established based on theoretical modeling and frequency response identification. The H∞ control method is used to suppress the extra torque and the H∞ controller is designed. Simulation and experimental results show that this method of suppressing extra torque is effective.