Research On Design Method For Passive Torque Servo Control System And Its Application

The aeroload simulator (ALS) is a typical application of the passive torque servo system (PTSS) in the engineering. It is an important half hardware-in-loop simulation equipment, which is often used to simulate the aerodynamic torque load on the missile rudder or elevon actuators in the flight. With the requirements of national defense, the performance and flight speed of missiles and aircrafts are increased rapidly, which leads to the high dynamic responsibility and high precision requirement of ALS. Taken the control system design of electrical aeroload simulator (EALS) driven by PMSM directly as the background, the control system of PTSS is studied in this dissertation.Firstly, the mathematical model of the PTSS is built using the physical modeling method. The influence of the rudder performance on the model was considered, and modeled it as the disturbance channel in the model. Based on the analysis of the driven motor and measured rudder, the uncertainties in the model are mainly caused by the fluctuations of the PMSM and the measuring rudders, and then the multiplicative uncertainty is adopted to describe the model. Under the different simplification, the validity of the model is verified by the actual experiment.Secondly, the dynamic features, surplus torque and loading gradient features of PTSS are analyzed by the couple model between the rudder and the EALS. It can be concluded that the surplus torque is related directly to the velocity of the rudder, and the loading gradient is the disturbing inverse ratio from the surplus torque to the closed-loop model, which shows the scaling relationship between the input and the disturbance signal act on the EALS. It also can be concluded that, under the same dynamic specification, it is more difficult to realize the small loading gradient. According to the former analysis, a two-loop control structure of PTSS based on the disturbance-observer (DOB) compensating is proposed. In the inner-loop, a disturbance-observer is designed to compensate the surplus torque; while in the outer-loop, a controller is designed to satisfy the desired performance specification.Thirdly, based on the generalized disturbance compensating framework...