反作用力矩测试装置力矩伺服控制系统设计

Torque servo system design of reaction torque measurement device

针对反作用力矩测试装置的控制要求,采用设计恒值调节系统的方法设计一种力矩伺服控制系统,实现输出力矩与被测力矩的有效跟随。通过分析反作用力矩测试装置中力矩器的原理,建立在阶跃力矩作用下力矩响应和位置响应的三阶传递函数模型,通过仿真方法分析模型中参数与力矩随动指标和位置抗扰指标的关系。在此基础上根据两个指标选择参数,确定位置响应的传递函数模型。综合考虑系统的位置抗扰性和力矩随动性设计PID控制器。实验结果表明,根据扰动作用下位置响应的三阶传递函数模型设计的控制器,能够满足系统要求的控制指标。

According to the control requirement of reaction torque measurement device, a torque servo control system was designed by using synthesis of constant control system. Thus the output torque responds to the measured torque quickly and precisely. By analyzing the principle of the torquer, the third order transfer functions of the torque and position responses under the condition of step torque input were obtained, and relations between parameters of the model and position interference rejection index and torque servo index were analyzed through simulation. Based on the relations, the parameters of the model were chosen, and the transfer function of position response was determined. And the PID controller was designed based on comprehensive consideration of position interference rejection and torque tracking performance. Experiments show that the controller designed upon the third order model of the position response meets the requirements of the system.