基于矢量匹配的扰动力矩消除方法

Vector Matching-based Disturbance Torque Elimination Method

随着电机制造和驱动技术的不断发展,在航空航天器舵机地面测试中电机正在逐渐替代液压装置,并成为中小功率负载模拟器的首选驱动部件。由于电动、液压系统数学模型间存在相似性,将液压系统阀控缸模型特征方程的分解方法引申到电机加载系统模型的分解中,得到了电动负载模拟器结构参数与位置扰动力矩频域特性的对应关系,这个方法可称为电-液等效法。针对电动负载模拟试验中常用的扫频试验,提出了基于幅相辨识和遗传算法的矢量匹配法以消除扰动力矩。通过AMESim仿真和电动负载模拟试验台上的验证表明,矢量匹配法可将加载力矩控制误差的标准差控制在该电动负载模拟器额定加载范围(±15 N·m)的1%以内。该方法较之其他方法具有适应能力强、简单灵活等优点,可大大提高负载模拟器在正弦位置扰动下的加载精度。

With the continuous development of manufacturing and drive technologies for electric motor,the electric motor is gradually taking the place of electro-hydraulic device,and becomes the preferred drive element of low and middle power level load simulators in the field of load simulation. There is similarity between the mathematical models of electric and hydraulic systems. The motor-hydraulic equivalent method is proposed,and the corresponding relation among the structure parameters of electric load simulator and the frequency domain characteristics of perturbance torque is obtained. The sweep test plays an important role in the electric load module test. According to the working conditions,a vector-based disturbance torque elimination method is put forward. The feasibility of the principle of the proposed method is verified by the AMESim simulation and the electric load simulation test stand. The test results show that the residual disturbance torque can be controlled within 1% of the rated load range（ ± 15 N·m） of electric load simulator by the proposed method based on the amplitude-phase identification and genetic algorithm. Compared with other methods,the method is simpler,more flexible and adaptable. And it can be used to greatly improve the test accuracy of the load simulator suffered from the sinusoidal position disturbation.