反推算法在微力矩空气动力负载模拟器上应用.pdf

HydromechatronicsEngineering 机床与液压 DOI：10．3969／j．issn．1001—3881．2012．06．011 Researchon M icro-torquePassiveM otor-driven Load Simulatorbased onBacksteppingTheory HUANGXiaodong，YANGHongyan，LIGeqiang ，GUOBingjing，CUIXiao (InstituteofMechanicalandElectricalEngineering，HenanUniversityofScienceandTechnology，Luoyang471003， Abstract：A microtorquehigh—frequencyhigh—precisionpassiveelectricloadsimulationsystem isresearched，thepaper proposesabacksteppingcontrolmethodtosolvethestrongforce／position couplingproblem．Thesystem isseenasa single—inputandmultiple—outputsystem，andadynamicmodelofthecouplingisestablished．Byintroducinganappro— priatevirtualcontrolquantity，thispaperdesignsabacksteppingcontroller，whichmakesthesystem errorhaveanex— pectedprogressiveshape，andtheoreticallyprovesthesystem stabilityonthebaseofLyapunovmethod．From thesimu— lationresults，aconclusioncouldbedrawnthatwhenthesinesignalisupto60Hz，amplitudetrackingerrorofbearing system isabout0．5％0radandphaselagisabout10。；Atthesametime，theamplitudetrackingerrorofloadingsystem isabout0．2％N ·m andphaselagisabout10。．Therefore．thesimulationresultsvalidatethismethodandprovethe feasibilityofthismethod． Keywords：microtorque，passive，bearingsystem ，loadingsystem，backstepping aneeparametersofaircraftrudderare gettinghigher 1 IntroductiOil andhigher．Forexample，inaanti—tankmissileservo urdderusedinagroundwar，therudderalwayshasa Oneapplicationofpassiveloadingservosystem veryhighrfequencyself—excitedoscillationtoenhance wasthe experimentalstudy of aerodynamic ofr thehitpr0bability