Research On Control Of Passive Electric Torque Loading Servo System

Passive electric torque loading servo system is one of the important equipments of the half-practicality simulation,by which the load of loaded object can be simulated,and it plays an important role in the military field,engineering projects and scientific research.In loading servo system,the phenomenon that the loading mechanism is forced to follow the movement of loaded object will cause the surplus torque which is the main reason for restricting the loading precision in loading servo system.In addition,the uncertainty,nonlinearity and external disturbance of the loading system also lead to a certain impact on the loading performance.Due to the high performace requirement of loading system,the main work of this paper is to present a control strategy which can restrain surplus torque,eliminate the loading error and improve the loading performance of the system.Specific studies are as follows:Firstly,the overall composition structure of the passive electric torque loading servo system experimental platform is presented.The hardware and software debugging of the control system based on TMS320F28335 is carried out.Then,the man-machine interface of the upper system is designed,and the software and hardware platform of the control system is constructed.Secondly,the mathematical model of the electric torque loading servo system is provided in this paper.the performance,more specific,the frequency band with is illustrated in the Bode figure based on th open-loop characteristic experimental results.Then the source of loading error is considered.Thirdly,in this work the factor affecting the loading performance are treated as the external disturbance.Considering the “repetitive” loading characteristic in passive torque loading servo system,an iterative learning control algorithm is proposed.In order to improve the convergence speed of the iterative learning control algorithm,state feedback is combined based on state observer.Then,the iterative control algorithm based on tracking differentiator is presented aiming at rejecting the output noise in the loading system.Finally,The effectiveness of the proposed control strategies are verified through the simulation results and the experiments on the electric torque servo system through iterative learning control algorithm are carried out.Verify the control performance of the iterative learning control algorithm and compare with conventional control algorithm as well.