摘要
针对基于力回路的操纵负荷系统的内回路存在多余力影响其力感模拟逼真度的问题,依据结构不变性原理提出了速度正反馈结合逆补偿的复合控制方法对多余力进行抑制,并在此基础上,提出了阻尼补偿的方法抑制外回路振荡以增强整个系统的稳定性.仿真结果表明,提出的复合控制策略的可行性,较传统的控制策略能够提高力感模拟的逼真度.实验结果进一步表明,内回路速度正反馈结合逆补偿的控制方法可以有效补偿多余力,上述复合控制策略在阻尼补偿控制器消除外回路振荡的情况下,显著提高了操纵负荷系统力感模拟的逼真度.
In consideration of the influence of surplus force in the inner loop on force feeling simulation fidelity for a control loading system（CLS）,a compound control strategy of speed positive feedback combined with inverse compensation was proposed on the basis of the structure invariance principle to restrain the surplus force.Furthermore,a damping compensation control strategy was presented based on the inner loop with the compound controller to restrain oscillation of the outside loop for enhancing the stability of the whole system.Through the computer simulation analysis,it was demonstrated that the proposed control strategy is feasible in theory and improves the force feeling fidelity compared with the traditional methods.The experimental results demonstrate that the proposed control strategy can efficiently compensate the surplus force,which remarkably improves the force feeling fidelity of the control loading system by using together with a damping compensator to weaken the oscillation of the outside loop.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2012年第8期1008-1015,1051,共9页
Journal of Harbin Engineering University
基金
国家自然科学基金资助项目(50975055)
中国博士后科学基金资助项目(2012M511812)
关键词
飞行模拟器
操纵负荷
电液伺服力加载
多余力抑制
系统辨识
flight simulator
control loading system
electro-hydraulic force loading
surplus force compensation
system identification.
