摩擦加载式电液负载模拟器力矩加载实验

Torque tracking experiment of a friction based electro-hydraulic load simulator

为研究加载结构对摩擦加载式电液负载模拟器力矩加载性能的影响,介绍该负载模拟器的加载原理,搭建单向摩擦加载式电液负载模拟器实验样机.建立该负载模拟器的线性数学模型;设计PID+前馈的控制器,在提高控制精度同时避免引入多余力矩抑制补偿;实验研究弹簧刚度、摩擦盘摩擦性能等对力矩加载性能的影响;着重研究该负载模拟器在强舵机干扰条件下的小幅值力矩加载性能.实验结果表明:摩擦加载式力矩加载方法在结构上不存在多余力矩,能够获得高性能的力矩加载结果.优化弹簧刚度,选用摩擦性能优良的摩擦盘材料,以及设计高性能的控制器均可以提高力矩加载性能.

To study the impact of mechanical structure on the torque loading performance of a friction based electrohydraulic load simulator,the loading principle of the proposed load simulator is described,and a prototype of oneway load simulator is built. The linear mathematical model of the proposed load simulator is established,and a PID plus feed-forward controller is designed to improve precision of the torque tracking control without any extra torque compensation. The impacts of the spring stiffness,the frictional performance of the friction discs,etc on the torque loading performance are studied experimentally. Then,the experimental studies are focused on the small amplitude torque loading performance of the proposed load simulator with severe disturbance of the steering engine. The experimental results show that the friction based torque loading method has no structural extra torque,and can achieve high torque loading performance. Besides,to further improve the torque loading performance,the stiffness of the spring should be optimized,the friction disc material with excellent friction properties is needed and the high performance controller should be designed.