Design Of Dual Motor Compound Torque Loading System

Dual Motors Compound Torque Loading System is used to simulate the air hinge moment of the rudder system in flight.It is a semi-actual object simulation device to test the performance of rudder system.A compound torque loading system with simultaneous torque loading and bending moment is proposed aimed at a variety of loads the rudder system is subjected to flight.Thus,the real load on the rudder surface can be accurately reproduced.The system carries out compound loading on the steering gear when it is passively following the rudder system.At this time,the surplus torque caused by position disturbance and the excess inertia torque caused by load and nonlinear disturbance exist simultaneously,thus affecting the tracking accuracy and dynamic response ability of the system.Therefore,the research emphases of this system is how to eliminate excess torque and nonlinear interference effectively.In this paper,the development situation of load simulator at home and abroad is studied and analyzed.In view of the influence of excess torque and nonlinear factors,put forward a structure design of cooperative loading with torque loading motor and torque compensation motor.Then outlined the structure and working principle of the system,analyzed the main factors affecting the tracking accuracy and dynamic response by establishing a comprehensive mathematical model.Finally,the influence of excess torque and nonlinear factors on the system is eliminated by optimizing the system structure and the control algorithm,such as feedback feed-forward control algorithm and recurrent neural network.According to the relationship between the moment of inertia and the connection stiffness of the system and the dynamic characteristics of the system,the elastic link is introduced to make the system reach the optimal generalized connection stiffness.The experimental results show that the optimal generalized joint stiffness can effectively eliminate the excess torque caused by the position perturbation of the rudder system.In addition,an iterative learning control system based on feedback feed-forward is designed,which improves the tracking accuracy and dynamic response capability of the system.Finally,according to the evaluation index of the load simulator and the characteristics testof the loading system,the dynamic and static compound loading of the rudder is realized.The experimental results show that the inhibitory rate of excess torque is about 97%,and the tracking accuracy is less than 1%.The optimized system structure and control algorithm can effectively eliminate the influence of excess torque and nonlinear factors on the system loading accuracy.The feasibility of dual motors compound torque loading system is verified.