Control Algorithm Research On The Dynamic Emulation Of Mechanical Loads Based On The Driver Machine-load Machine Set

Load emulation system is the experimental system of researching the load emulation technology, and the electric powered load emulation system is one of the advanced developments of load emulation. So it is important that we research the realization and control of electric powered load emulation system, and obtain some fruitful theories and experimental results.The purpose of the research focuses on the control strategy of load machine, in order to the load emulation can emulate the desired mechanical load model. In this paper, the author develops a data acquisition card based on PCI BUS in order to design the experimental set of researching load machine control strategy. The author designs the control system using the PC and PCI BUS data acquisition card as control core. The PCI BUS data acquisition card uses the universal PCI interface chip, PCI9052. The PCI BUS data acquisition card mainly constitutes A/D module, D/A module, and encoder pulse signals collection module, it can collect two axes' encoder pulse signals simultaneously, and collect four input analog signals, and control servo motor by four output analog voltage. The control algorithm is done by PC. The paper introduces the design, commissioning and driver development of the card. We can research the load machine control algorithm on the experiment set.In the section of control algorithm, the module of the experiment system is established firstly. Then, this paper analyses the principle of using inverse mechanical dynamics, and gives the defects of the control strategies: one is that we need to consider the sampling effects; another is that the emulation fails if the emulated inertia is much larger than the actual driver inertia. So, in this paper, the control strategy, based on a speed-tracking control, with implicit feed-forward of the inverse dynamics is adapted. Next, this paper analyses the principle of the control strategy based on a speed-tracking control, and validate the excellences of the control strategy compared to the control strategy based on inverse mechanical dynamics in theory. This paper gives the specific realization of the control strategy based on a speed-tracking control related to specific experiment set. In this section, the paper also introduces the application design, and solves the multimedia timer, pulse signals count, speed and the realization of control algorithm.At the end, the paper does some experimental research from two respects. Firstly, the speed servo performance of hardware platform is tested. In virtue of the tracking response of step signal, sine signal and arbitrary signal, the conclusion of the experiment shows that the system has good servo performance. Simultaneously, the experimental results show that the data acquisition based on PCI BUSS is reliable and reasonable, and the application is effective. Secondly, the experimrnt of static load emulation is present.