二次调节伺服加载试验台转矩控制系统的动态鲁棒补偿

Dynamic Robustness Compensation for Torque Control System of Servo Loading Test Equipment with Secondary Regulation

针对二次调节伺服加载试验台转矩控制系统,建立了系统动态数学模型,并以此对系统参数变化和耦合干扰的影响进行了仿真分析。仿真结果表明,在传统的PID控制情况下,系统参数变化和耦合干扰对系统的动态性能影响很大。为了消除或降低这种不利影响,在PID控制基础上,加入动态鲁棒补偿器,对加载试验台转矩控制系统进行改造。由仿真结果看出,转矩控制系统加入动态鲁棒补偿器后,伺服加载试验台系统的动态性能得到了很大提高,并使系统获得了很强的鲁棒性。

Dynamic mathematic modeling of system was presented for servo loading test equipment torque control system with secondary regulation, the influence of system parameter changing and coupling disturbance was analyzed. The result indicates that the parameter changing and coupling disturbance of system have immense influence on the dynamic performance of system by PID controlling. The loading test equipment torque control system was reconstructed by adding dynamic robust compensable controller for eliminating and reducing the negative effect based on PID control. The simulation result indicates that the dynamic performance of servo loading test equipment is improved and strong robustness is got with dynamic robust compensational controller.