电动直线加载测试系统改进前馈补偿策略研究

Improved Feedforward Compensation Strategy for Electric Linear Loading Test System

为解决直线舵机运动扰动引起的电动直线加载测试系统(electric linear loading test system,简称ELLTS)加载精度降低的问题(多余力问题),首先,在传统扰动前馈补偿策略分析的基础上,提出了一种改进扰动前馈补偿策略,该策略不需要舵机速度反馈信号,只采用位移指令信号与力反馈信号作为补偿信号,省去了速度传感器的安装环节,具有操作简单和适应能力强等优点;其次,采用SIMULINK软件对提出的补偿策略进行了多余力仿真,仿真结果验证了该策略的合理性与可行性;最后,进行了对比实验。实验结果显示,在动态加载频率范围内,该算法多余力抑制效果较好,且在典型的加载工况下,采用了改进扰动前馈补偿策略的ELLTS力输出精度进一步提高,满足“双十指标”。

In order to solve the problem of the lower loading accuracy of electric linear loading test system(ELLTS)caused by the motion disturbance of linear actuators(problem of surplus force),an improved distur⁃bance feedforward compensation strategy is proposed based on the analysis of traditional disturbance feedforward compensation.The strategy does not require the velocity feedback signal of the actuator,and only uses the dis⁃placement command signal and the force signal as the compensation term,which avoid the installation of a speed sensor.Furthermore,it is easy to use and flexible for applying.The surplus force of the proposed strategy is sim⁃ulated using the SIMULINK software,and the rationality and feasibility of the proposed strategy are verified by the simulation results.Finally,many comparison experiments are implemented,whose results show that,the surplus force with the algorithm is well restrained within the dynamic loading frequency.In addition,the force output accuracy of ELLTS with the proposed strategy is further improved under typical loading conditions,which satisfies the"double ten index".