Research On Research On Control Simulation Of Electric Load Simulator

The electric load simulator makes the test experiment of the steering gear change from the full physical experiment to the semi physical simulation experiment,which reduces the test cost to a certain extent.It has the advantages of good controllability,strong repeatability and operability,comprehensive test data and short test cycle.But its disadvantages are also obvious.The loading accuracy of the electric load simulator is affected by the factors such as stiffness,inertia,friction and clearance.In addition,the interaction between the steering gear and the load simulator leads to the redundant torque can not be eliminated,resulting in the tracking error,reducing the loading accuracy and failing to meet the test requirements.Therefore,it is very important for the electric load simulator to choose the appropriate method to optimize the loading system.First of all,according to the configuration of electric load simulator,this paper selects the components and constructs the electric load simulator.Then the model of electric load simulator is built through analysis and calculation,and the mathematical model of the steering gear is built,so the whole loading system model is established.Then,the mechanism of the redundant moment is analyzed,and the influence of the redundant moment on the system is simulated.At the same time,the nonlinear factors such as stiffness,inertia,friction and clearance are deeply studied.After that,the system of electric load simulator is optimized,the differential advance PID controller is designed for the forward channel,and the ideal loading effect is obtained;the direct feed forward compensation method and the feed forward compensation method based on the generalized forward channel are proposed to compensate the redundant torque;finally,the uncertainty and non-linear of the system are considered An adaptive terminal sliding mode control algorithm is proposed to reduce the tracking error and improve the loading accuracy.In this paper,the designed controller and control algorithm are verified.Load simulation of the system,combined with the evaluation index of the load simulator,the results show that: after a certain optimization and correction of the system,the static and dynamic characteristics of the whole electric load simulator system have been improved well,and the suppression effect of redundant torque is also significant.At the same time,the tracking error is obviously reduced and the loading accuracy is improved,which verifies the effectiveness of the control algorithm.