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揭示了传统模型的建模精度是影响电液负载模拟器极限性能研究的主要问题。分析并建立了多刚度与非线性复合数学模型,引入了基于舵机安装刚度、负载刚度、力矩传感器刚度、加载马达轴刚度的多刚度模型;合成了伺服阀的流量非线性、系统的饱和与摩擦等非线性环节;并与传统线性模型进行了比对分析与仿真实验,验证了模型的精确性。结果表明复合数学模型更真实而且精确地表征了系统物理情况,为系统结构参数优化设计和控制策略研究提供了理论基础。
It is revealed that the modeling accuracy of the traditional model is the main problem that will affect the ultimate performance of the electro-hydraulic load simulator. The multi-stiffness and non-linear composite mathematical model is analyzed and established. The multi-stiffness model based on the stiffness of servo, rigidity of load, stiffness of torque sensor and stiffness of motor shaft is introduced. The flow non-linearity of servo valve, Friction and other non-linear links; compared with the traditional linear model analysis and simulation experiments to verify the accuracy of the model. The results show that the composite mathematical model characterizes the physical condition of the system more truthfully and accurately, which provides a theoretical basis for the optimization design and control strategy of the structural parameters of the system.