Research On Fast Debugging Method Of Load Simulation System

The load simulator belongs to the ground semi-physical emulators equipment,which is mainly used to emulators the servo borne or torque of the tested servo mechanism in the actual work.Its performance will directly affect the precision of the load borne by the tested servo mechanism.This paper uses a mechanical load simulation system,which can realize the simulation of elastic load,inertia load and friction load of the tested servo mechanism.However,due to the coupling phenomenon of multiple parameters,debugging often takes a lot of time.In this paper,we analyze the factors affecting the fast commissioning of load simulation system from the perspective of time domain and frequency domain respectively,and adopt suitable methods for fast adjustment of the influencing parameters to achieve the purpose of fast commissioning.The main work contents are as follows:(1)By analyzing the working principle and structure of the load simulator and the servo mechanism under test(EMA),a more accurate mathematical model of the overall load simulation system was established,which laid the foundation for the subsequent parameter identification of the EMA.(2)Aiming at the problem that there were many unknown parameters in the EMA model of the tested servo mechanism,which could not be directly obtained by the user,the genetic algorithm was used to identify these unknown parameters and establish the EMA model.At the same time,the factors affecting the no-load position characteristics and transient characteristics of EMA were analyzed and discussed,and the mechanism and law of the influence of the extracted parameters on the commissioning were discussed,so as to prepare for the rapid adjustment.(3)The influence of the simulated loads in the load simulation system,such as elastic load,inertia load and friction load,on the frequency characteristics of the specimen.The single variable method was used to obtain the influence of different parameters on the frequency characteristics of the tested servo mechanism,and the linear weighted genetic algorithm was used to select the optimal torque combination,so that the load simulation system could quickly reach the target frequency characteristic curve and shorten the debugging period.In order to verify the accuracy of the analysis results and algorithms,the experimental platform of the load simulation system is built,and the overall scheme design of the load simulation system and the hardware and software components of the system are introduced.The results of the transient and position characteristics analysis and the designed algorithm are used in the experimental platform to test the frequency,transient and position characteristics of the load simulation system to verify that the fast debugging method can be applied to the actual debugging process and the characteristics of the servo mechanism under test can quickly meet the target requirements.