频率变化条件下负载模拟器改进迭代学习PID控制

Improved Iterative Learning PID Control of Load Simulator Under Frequency Variation

针对电动负载模拟器因多余力矩造成的输出力矩误差问题,提出了一种改进迭代学习控制与增量式PID控制相结合的复合控制器。首先,介绍了电动负载模拟器的组成元件并根据其原理建立了系统数学模型,在此基础上分析了多余力矩的产生原因及舵机工作信号频率对多余力矩的影响;其次,设计了基于tanh函数改进的引导信号迭代学习控制器,并给出了其收敛条件,将该控制器与PID控制器结合设计了复合控制器。仿真实验表明,提出的复合控制器能有效抑制多余力矩对电动负载模拟器输出力矩的干扰,在变频率舵机工作信号引起的多余力矩影响下仍然能保证电动负载模拟器的加载精度。

Aiming at the output torque error of electric load simulator caused by redundant torque,a compound controller combining improved iterative learning control and incremental PID control is proposed.Firstly,the components of the electric load simulator are introduced and the mathematical model of the system is established according to its principle.On this basis,the causes of the redundant torque and the influence of the steering gear working signal frequency on the redundant torque are analyzed.Secondly,an improved guidance signal iterative learning controller based on tanh function is designed,and its convergence conditions are given.A composite controller is designed by combining the controller with PID controller.Finally,the simulation experiment proves that the proposed composite controller can effectively suppress the interference of the redundant torque on the output torque of the electric load simulator,and can still ensure the loading accuracy of the electric load simulator under the influence of the redundant torque caused by the variable frequency steering gear working signal.