为提高电动操纵负荷系统力感跟踪精度、动态性能, 阐述了电动操纵负荷系统组成及工作原理; 建立系统数学模型, 在电流和速度双环伺服控制的基础上, 提出迭代学习控制加前馈补偿复合控制策略; 利用阶跃与正弦响应信号对系统进行仿真测试和分析。仿真结果表明, 采用迭代学习加前馈控制策略, 系统跟踪精度进一步提高, 动态性得到改善, 可应用于实际操纵负荷系统。

The purpose of this paper is to enhance the tracking accuracy and dynamic performance of electric controlled loading system.Firstly the composition and working principle of electric controlled loading system were described and the system mathematical model was established.An Iterative Learning Control (ILC) & feed-forward compensation composite control strategy was proposed on the basis of the dual loops of current and velocity.At last step response and sinusoidal response signals were used to test the control strategy.The results indicated that the compound control method can improve the system tracking accuracy and improve the dynamic performance which can find application in practical load control systems.