| At present,because the electric load simulator can load torque of any function on the ru-dder,and it has high loading accuracy,simple structure,it is widely researched and used in the industry.How to suppress the surplus torque and improve the control accuracy is the key to t-he research of the electric load simulator.Aiming at the electric load simulator system,based on its mathematical model,the paper analyzed its system characteristics,carried out system c-orrection and surplus torque suppression,and the design of the adaptive fuzzy PI controller.F-inally,the designed controller was tested and verified in the test platform.Firstly,the overall scheme of the electric load simulator was designed,its working princ-iple was analyzed,the main components in the system were selected and designed,and the te-st platform of the electric load simulator system was built.The mathematical model of the sy-stem was established,and the characteristics of the system were analyzed based on the system model,including the influence of the system connection stiffness on the system mechanical r-esonance,system stability and system surplus torque,and the influence of the system rotation-al inertia on the system mechanical resonance and system excess torque.The analysis showed that the effect of connection stiffness on the mechanical resonance of the system was positive,and the effect on the surplus torque of the system was reverse.When the system is stable,the upper limit of the connection stiffness will affect the selection of controller parameters.There-fore,the value of the system connection stiffness should be considered in a compromise,and it cannot be too large or too small.The system moment of inertia affects the mechanical reso-nance and excess torque of the system in reverse,so the system moment of inertia should be as much as possible of small.Secondly,the stability of the system was analyzed,and a compound correction method b-ased on the torque differential negative feedback and the PI controller was designed.The gen-eration mechanism of surplus torque and the uncertain factors in the system were analyzed,a-nd feedforward compensation was introduced to suppress the surplus torque of the system.T-he simulation model was established in MATLAB/SIMULINK to simulate the correction eff-ect of the designed correction method on the system and the suppression effect of the feedfor-ward compensation method on the surplus torque.The results showed that the correction met-hod combined with the torque differential negative feedback and the PI controller effectively improves the stability of the system.The system can track the constant torque command quic-kly and almost without disturbance,and make the system undisturbed loading bandwidth rea-ching 8 Hz.After introducing the feedforward compensation for the angular displacement of the rudder,the surplus torque of the system is suppressed by 99%,and the suppression effect is obvious.Thirdly,in order to further improve the control accuracy and robustness of the system,f-uzzy control was introduced into the control method of the system,and the two parameters K_Pand K_Iof the PI controller were self-tuned using fuzzy rules to form an adaptive fuzzy PI con-trol.By establishing a simulation model in MATLAB/SIMULINK,the simulation verified the control effect of the adaptive fuzzy PI controller.The results showed that after the introducti-on of fuzzy control,the tracking error of the system is further reduced,the surplus torque is s-uppressed more,and the control accuracy is further improved.Finally,the host computer interface was designed based on Lab VIEW,and the experime-ntal verification of the designed control method is completed.The system stability test,the su-rplus torque suppression test based on feedforward compensation and the adaptive fuzzy PI c-ontrol test were carried out respectively.The test results showed that the designed control me-thod is effective and meets the design requirements. |
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