Research On Passive Torque Servo Control System

With the development of emerging industries such as new types of agriculture,medical systems,and robots,the market demands for load simulators and their core control technologies have become increasingly demanding.Passive torque servo control technology as the core technology of load simulator,research and development of passive torque servo control technology is completely in demand and necessary.At the same time,with the development of the traditional motor industry,the advancement of motor test technology can optimize the performance of the motor system,and the passive torque servo system is the cornerstone of the measurement technology.Therefore,the motor control system and its loading in the motor test system are described in this paper.According to the mathematical model of the torque balance equation,it can be seen that the equivalent inertia can be simulated by adjusting the load torque of the measured motor.In order to verify this conjecture,it is necessary to build a corresponding simulation platform and carry out simulation experiments and simulation waveform analysis.In order to make the test system always have a good dynamic response,the system moment of inertia is identified.At present,there are two methods with high accuracy on-line recognition: least-squares with forgetting factor and model reference adaptive identification algorithm.Two simulation models are established on the simulink platform.Through the simulation results,the motor inertia identification effect is compared and analyzed in order to find the best online identification algorithm.A simulation model of the control algorithm for the fitting of torque speed curve(FOTSC)is designed.According to the mathematic model of the algorithm,the algorithm is introduced into the passive torque servo control system and real-time inertia identification,and then through a reasonable adjustment of the load torque and speed controller,the loading motor can simulate the moment of inertia and load without static difference.Then the above conjecture is verified in the constructed simulation model.In the hardware part of the experimental platform constructed,TI company’s DSPx28335 chip will be used as the main control chip,and then CCS6.0 simulation and debugging platform will be used to test the advantages and disadvantages of FOTSC control algorithm.The specific steps of the experiment is divided into three steps: the first step is a full-load high-speed experiment,the second step is a full-load low-speed experiment,and the third step is a load-carrying experiment.