CN105956325A - Dynamic speed synchronous control method for redundant force of electro-hydraulic load simulator - Google Patents

Abstract

The invention relates to a dynamic speed synchronous control method for redundant force of an electro-hydraulic load simulator. The method comprises the steps of modeling the electro-hydraulic load simulator, wherein the electro-hydraulic load simulator comprises a loading system and a steering gear control system which are coupled to each other; taking the steering gear control system and the loading system as a first part and a second part, wherein the first part is a steering gear for position control, a load moment of the steering gear is equal to that acquired by a moment sensor of the loading system, the second part is the loading system for moment closed-loop control, and the motion interference of the loading system is equal to that acquired by an angle sensor of the steering gear; obtaining an output moment transfer function of the loading system; substituting the motion interference of the steering gear into the output moment transfer function of the loading system; performing compensation control by adopting a speed synchronization signal to obtain control output of the loading system based on dynamic speed synchronous control; and setting a part with the redundant force to be zero and eliminating the redundant force of the loading system. According to the method, the redundant force during multi-frequency motion can be effectively inhibited.

Description

The dynamic speed synchronisation control means of electrohydraulic load simulator redundant force

Technical field

The present invention relates to the control method of a kind of electrohydraulic load simulator redundant force, particularly relate to a kind of electricity The dynamic speed synchronisation control means of liquid load simulator redundant force.

Background technology

Load simulator is for simulating the outer load that steering wheel is subject in aircraft ground Hardware-in-loop Simulation Experimentation The moment closed loop control equipment of lotus.In aircraft ground Hardware-in-loop Simulation Experimentation, simulation computer root According to the track of aircraft flight, current speed and height, calculate the loading moment being subject on rudder face in real time, Load simulator is used for simulating the aerodynamic loading that steering wheel is born, and makes aircraft in development stage controlling Can more close to actual flight state.The successful Application of load simulator not only can shorten grinding of aircraft Cycle processed, reduction development cost, and the success rate that aircraft is developed can be improved.According to realizing shape Formula, load simulator can be divided into mechanical type, electric-liquid type, electrodynamic type and pneumatic type 4 kinds.The most electro-hydraulic It is big that load simulator has power density, the advantages such as fast response time, Electro Magnetic Compatibility are good and obtain extensively General research is paid close attention to.Therefore, study high-precision electrohydraulic load simulator to have important practical significance.

Generally, load simulator is fixed together with steering wheel axle, and the motion of steering wheel is to load mould Intend device generation perturbed force and become redundant force.For steering wheel, steering gear control system is produced by loading moment Extraneous interference, this interference is that electrohydraulic load simulator simulates steering wheel in practical flight by pneumatic Moment, this moment can affect steering wheel displacement output accuracy；And for loading system, the fortune of steering wheel Move and loading system generation interference is redundant force, the serious control accuracy affecting loading system.Many Surplus energy is that the motion of steering wheel produces interference to load simulator, the speed that redundant force is not only moved with steering wheel Relevant, and relevant with the frequency of steering wheel motion, especially when steering wheel is with loading system model dissmilarity, Redundant force has notable difference with the change of frequency.Suppression redundant force is that the needs of load simulator solve main Want problem, how to suppress the problem of the redundant force scholar that is correlated with both at home and abroad to carry out and study widely, pass through The redundant force of control strategy suppression system is the main method of research now." structure invariance is theoretical " Method, utilizes the feedback speed signal of steering gear system to carry out feedforward compensation, and its research discloses steering wheel speed Degree is the main cause affecting redundant force.The scholars such as Jiao Zongxia propose synchronous velocity control algorithm, its By using the valve signal of steering wheel to realize speed sync, widely applied in engineering.Yao Jian Scholar is bravely waited to propose a kind of self-adaptation nonlinear optimal compensation control method, by the stream to servo valve The nonlinear parameters such as coefficient of discharge and flow pressure coefficient carry out On-line Estimation, and real-time update speed sync is joined Number.The method carries out on-line identification to mission nonlinear composition, by synchronization parameter of regulating the speed in real time Suppression redundant force.But can only the redundant force that causes of the amplitude of compensation speed synchronizing signal, it is impossible to compensate with The redundant force that the phase place of step signal causes.Scholar's adaptive speed synchroballistics such as Wang Chengwen control, main The method wanting application model reference adaptive, with steering gear control system as reference model, governing speed is same The speed of step state modulator loading system is consistent with the movement velocity of steering wheel, suppresses redundant force.As Really loading system is when doing constant value 0Nm moment and loading, and the motion with steering wheel of loading system is equal, should Method with steering gear control system as reference model, the motion of controlled loading system and steering wheel motion holding one Causing, if loading is not to do constant value 0Nm moment to load, the motion with steering wheel of loading system is incomplete Equal, the motion of the method controlled loading system remains a need for keeping consistent with steering wheel motion, and impact loads Precision.

But, prior art is not mentioned redundant force during suppression steering wheel different frequency motion, especially It is suppression steering gear control system and redundant force during loading system model dissmilarity.

Summary of the invention

In sum, the redundant force that necessary offer is a kind of when can effectively suppress multi-frequency to move Control method.

A kind of dynamic speed synchronisation control means of electrohydraulic load simulator redundant force, including:

Modeling electrohydraulic load simulator, described electrohydraulic load simulator includes loading system and rudder Machine control system intercouples, and described loading system includes that loading system servo valve, loading system control Device, loading motor and torque sensor；Described steering gear control system as servosystem, including Steering engine controller, steering wheel servo valve, inertia disc, angular transducer and steering wheel motor；

Constructive variation to electrohydraulic load simulator, by steering gear control system and loading system It is divided into Part I and Part II；Part I is that steering wheel does position control, the load that steering wheel is subject to Moment size gathers equal with loading system torque sensor；Part II is that loading system is done moment and closed Ring controls, and the motion artifacts that loading system is subject to gathers equal with steering wheel angular transducer；

The output torque transmission function of acquisition loading system:

$T\left(s\right)=\frac{G_s\·G_{L2}\left(s\right)\·G_{L1}\left(s\right)u_L}{G_{L4}\left(s\right)}-\frac{G_s\·G_{L2}\left(s\right)\·G_{L3}\left(s\right){\mathrm{s\θ}}_a}{G_{L4}\left(s\right)}---\left(1\right);$

In formula: G_L1(s)=D_LK_qL,

G_L2(s)=J_fs²+B_fs+G_f,

$G_{L3}\left(s\right)=(\frac{V_t}{4{\mathrm{\β}}_e}s+K_{cL}+K_{tpL})\·(J_{L}s+B_L)+{D_L}^2,$

$G_{L4}\left(s\right)=(\frac{V_t}{4{\mathrm{\β}}_e}s+K_{cL}+K_{tpL})\·G_{L2}\left(s\right)\·G_s+\left(G_{L2}\right(s)+G_s)G_{L3}\left(s\right)\·s;$

In formula: G_sIntegral stiffness for torque sensor Yu power transmission shaft；u_LFor loading system servo valve Control voltage；S is Laplce (Laplace) operator；θ_aAngular displacement for steering wheel motor rotor； D_LFor loading the discharge capacity of hydraulic motor；K_qLFlow gain for loading system servo valve；J_fFor inertia The rotary inertia of load；B_fViscous damping coefficient is loaded for loading system；G_fFor torque sensor and angle The integral stiffness of degree sensor；V_LFor loading the volume of hydraulic motor；β_eElastic modelling quantity for hydraulic oil； C_slLFor loading the leadage coefficient of hydraulic motor；KcL is loading system servo valve flow pressure coefficient； J_LInertia is rotated for loading hydraulic motor；B_LFor loading hydraulic motor viscous damping coefficient.

The motion artifacts of steering wheel is substituted in the output torque transmission functional expression of loading system, obtains:

$T\left(s\right)=\frac{G_s{G}_{L2}{G}_{L6}}{G_{L4}{G}_{L6}-1}\[G_{L1}{u}_L-\frac{K_{qa}{G}_{L3}{D}_a{u}_a}{G_{L5}}\]---\left(2\right)$

In formula:

$G_{L6}\left(s\right)=\frac{G_{L5}\left(s\right)}{G_s{G}_{L2}\left(s\right)G_{L3}\left(s\right)(\frac{V_a}{4{\mathrm{\β}}_e}s+K_c)},$

K_c=K_ca+C_sla；

In formula: K_qaFlow gain for steering wheel servo valve；D_aFor steering wheel hydraulic motor displacement；u_aFor rudder Machine servo valve control voltage；V_aVolume is controlled for steering wheel hydraulic motor；K_cTotal for steering gear control system Flow pressure coefficient；K_caFor steering wheel servo valve flow pressure coefficient；C_slaLeak for steering wheel hydraulic motor Coefficient；J_aInertia is rotated for steering wheel hydraulic motor；B_aFor steering wheel hydraulic motor viscous damping coefficient.

Speed sync signal is used to compensate control, loading based on dynamic speed Synchronization Control It is as follows that system controls output:

u_L=u_pid+G_ds·u_a (3)

In formula: u_pidExport for loading system moment closed loop PID control, G_dsFor speed dynamic compensation section；

Formula (3) is substituted in formula (2), can obtain:

$T\left(s\right)=\frac{G_s{G}_{L2}{G}_{L6}{G}_{L1}}{G_{L4}{G}_{L6}-1}{u}_{pid}+\frac{G_s{G}_{L2}{G}_{L6}}{G_{L4}{G}_{L6}-1}\[G_{L1}{G}_{ds}\·u_a-\frac{K_{qa}{G}_{L3}{D}_a{u}_a}{G_{L5}}\]---\left(4\right)$

On the right of the equation of above formula, Section 1 is the PID control output of loading system, and Section 2 is bag Generation containing redundant force and the removing method of redundant force.

Making Section 2 is zero, eliminates loading system redundant force.

The characteristic of loading system is made up of loading system body dynamic characteristic and redundant force dynamic characteristic, and Dynamic characteristic and the unnecessary dynamic characteristic of system have identical dynamic characteristic.

Dynamic speed synchroballistic link is:

$G_{ds}=K_{ep}\frac{(\frac{V_t}{4{\mathrm{\β}}_e}s+K_{cL}+K_{tpL})\·(J_L{s}^2+B_{L}s)+{D_L}^{2}s}{(\frac{V_t}{4{\mathrm{\β}}_e}s+K_{ca}+K_{tpa})\·(J_a{s}^2+B_{a}s)+{D_a}^{2}s}---\left(5\right)$

In formula:For conventional speed synchronization factor.

Relative to prior art, the dynamic speed of the electrohydraulic load simulator redundant force that the present invention provides is same Step control method, it is proposed that dynamic speed synchroballistic control method.The method is particularly suited for loading In the case of the dynamic characteristic of system and the widely different of steering gear control system, transport at steering wheel different frequency Time dynamic, the redundant force of suppression loading system.This strategy utilizes steering wheel available speed sync signal, The dynamic characteristic of coupling redundant force is consistent with the dynamic characteristic of steering gear control system, presses down at different frequency The redundant force of loading system processed, and then improve the dynamic load precision of system, and in easy engineering Application.

Accompanying drawing explanation

The typical structure schematic diagram of the electrohydraulic load simulator that Fig. 1 provides for the embodiment of the present invention.

The structural principle analysis chart of the electrohydraulic load simulator that Fig. 2 provides for the embodiment of the present invention.

The dynamic speed Synchronization Control block diagram that Fig. 3 provides for the embodiment of the present invention.

The dynamic speed synchroballistic link Bode diagram that Fig. 4 provides for the embodiment of the present invention.

Loading system that Fig. 5 provides for the embodiment of the present invention and the modeling schematic diagram of steering gear control system.

Main element symbol description

Steering engine controller 1

Steering wheel servomechanism 2

Inertia disc 3

Loading system servomechanism 4

Loading system controller 5

Load motor 6

Torque sensor 7

Angular transducer 8

Steering wheel motor 9

Dynamic speed synchroballistic 10

Conventional speed synchroballistic 11

Detailed description of the invention

The electrohydraulic load simulator redundant force described in the embodiment of the present invention is described in detail below in conjunction with accompanying drawing Dynamic speed synchronisation control means.

Referring to Fig. 1, described electrohydraulic load simulator system includes loading system and steering gear control system, Described loading system include loading system servo valve 4, loading system controller 5, load motor 6, with And torque sensor 7.Described steering gear control system as positional servosystem, including steering engine controller 1, Steering wheel servo valve 2, inertia disc 3, angular transducer 8 and steering wheel motor 9.Described loading system with Steering gear control system intercouples with transmission torque.

See also Fig. 2, electrohydraulic load simulator is modeled, and by load simulator shown in Fig. 1 The constructive variation of system, is divided into Part I and Part II.Part I is that steering wheel does position Controlling, the loading moment size that steering wheel is subject to gathers equal, with dotted line with loading system torque sensor Represent；Part II is that loading system does moment closed loop control, the motion artifacts that loading system is subject to Steering wheel angular transducer gathers equal, is represented by dotted lines.Wherein inertia load is used to simulate rudder face Rotary inertia, but play different effects in loading system and steering gear control system, individually below to adding Loading system and rudder control system are modeled.

The output torque transmission function of acquisition loading system:

$T\left(s\right)=\frac{G_s\·G_{L2}\left(s\right)\·G_{L1}\left(s\right)u_L}{G_{L4}\left(s\right)}-\frac{G_s\·G_{L2}\left(s\right)\·G_{L3}\left(s\right){\mathrm{s\θ}}_a}{G_{L4}\left(s\right)}---\left(6\right)$

From above formula, the characteristic of loading system is made up of two parts, and on the right of equation, Section 1 is for loading The dynamic characteristic of system, the right Section 2 is redundant force dynamic characteristic.From redundant force dynamic characteristic, The motion of steering wheel is the main cause causing loading system redundant force, and redundant force and steering wheel motion Frequency is relevant, the difference of steering wheel motion frequency, and redundant force also can be different.It addition, loading system is dynamic The denominator of step response and redundant force dynamic characteristic transmission function is identical, i.e. the dynamic characteristic of loading system and Redundant force dynamic characteristic has identical characteristics.The characteristic of loading system by the dynamic characteristic of loading system own and Redundant force dynamic characteristic forms, and the dynamic characteristic of system and unnecessary dynamic characteristic had both had identical Dynamic characteristic, provides guarantee for eliminating different frequency system redundant force.

Owing to the motion artifacts of steering wheel is that the main cause causing loading system redundant force provides servos control System mathematic model, substitutes in the output torque transmission functional expression of loading system by the motion artifacts of steering wheel, Can obtain:

$T\left(s\right)=\frac{G_s{G}_{L2}{G}_{L6}}{G_{L4}{G}_{L6}-1}\[G_{L1}{u}_L-\frac{K_{qa}{G}_{L3}{D}_a{u}_a}{G_{L5}}\]---\left(7\right)$

Speed sync signal is used to compensate control, it is assumed that loading based on dynamic speed Synchronization Control It is as follows that system controls output:

u_L=u_pid+G_ds·u_a (8)

Formula (3) is substituted in formula (2), can obtain:

$T\left(s\right)=\frac{G_s{G}_{L2}{G}_{L6}{G}_{L1}}{G_{L4}{G}_{L6}-1}{u}_{pid}+\frac{G_s{G}_{L2}{G}_{L6}}{G_{L4}{G}_{L6}-1}\[G_{L1}{G}_{ds}\·u_a-\frac{K_{qa}{G}_{L3}{D}_a{u}_a}{G_{L5}}\]---\left(9\right)$

On the right of the equation of above formula, Section 1 is the PID control output of loading system, and Section 2 is many for comprising The generation of surplus energy and the removing method of redundant force.

Eliminating loading system redundant force, namely making Section 2 is zero.I.e. dynamic speed synchroballistic ring Joint is:

$G_{ds}=K_{ep}\frac{(\frac{V_t}{4{\mathrm{\β}}_e}s+K_{cL}+K_{tpL})\·(J_L{s}^2+B_{L}s)+{D_L}^{2}s}{(\frac{V_t}{4{\mathrm{\β}}_e}s+K_{ca}+K_{tpa})\·(J_a{s}^2+B_{a}s)+{D_a}^{2}s}---\left(10\right)$

By Shi Ke get, the molecule denominator on the right of equation is loading system respectively and steering gear control system does position Put the dynamic characteristic of motion.It is to load that loading system exists the different main cause of different frequency redundant force The dynamic characteristic of system is inconsistent with the dynamic characteristic of steering gear control system, if loading system is to reality Loading for actuator, generally, both dynamic characteristic difference are relatively big, and redundant force also can be bigger.As Really two loading passages are to top, and both dynamic characteristic basic simlarity, the redundant force of loading system will not The biggest.The control method that the present invention proposes is that the redundant force dynamic characteristic to loading system is modified, In the range of linear system, coupling loads the dynamic characteristic of redundant force dynamic characteristic and steering gear control system Consistent, it does not affect the situation of loading system itself, reduces the redundant force of system simultaneously.

See also the compensation block diagram that Fig. 3, Fig. 3 are dynamic speed synchronized algorithm.Identical at two Loading passage to top in the case of, the systematic parameter of position system and loading system is made comparisons, position The rotary inertia of system comprises the rotary inertia of inertial loads, and the rotary inertia of position system is than loading system That unites is big, and the rigidity of position system can reduce simultaneously, and other parameters of two passages are identical, i.e. position The comprehensive natural frequency of system is less than loading system.

See also Fig. 4, Byrd (bode) the figure such as institute of dynamic speed synchronized algorithm compensation tache Show.From accompanying drawing 4, low-frequency range, amplitude does not the most decay, and delayed phase is inconspicuous, dynamically It is basically identical that synchronous velocity control (DVSC) and conventional speed Synchronization Control (TVSC) control effect. Mid Frequency, amplitude gradually decays, and delayed phase is obvious, and DVSC can effectively compensate phase place to be caused Redundant force, high band, keep constant after amplitude attenuation, phase place is without delayed, and DVSC can be effective The size of governing speed synchronization parameter, reduce redundant force.

Seeing also Fig. 2, the modeling to loading system and steering gear control system describes in detail further. Concrete, the modeling of described loading system comprises the steps.

Set up servo valve flow equation:

Q_L=K_qLx_L-K_cLp_fL=K_qLG_svLu_L-K_cLp_fL

In formula: Q_LFor loading system servo valve flow；x_LFor loading system valve core of servo valve；P_fLFor adding Loading system load pressure；G_svLFunction is transmitted for loading system servo valve.

Introducing hydraulic motor flow continuity equation:

$Q_L=D_L\frac{{\mathrm{d\θ}}_L}{dt}+\frac{V_L}{4{\mathrm{\β}}_e}\frac{{\mathrm{dP}}_{fL}}{dt}+C_{slL}{P}_{fL}---\left(11\right)$

In formula: θ_LFor loading hydraulic motor rotor angular displacement.

Loading hydraulic motor rotor torque equilibrium equation:

$D_L{P}_{fL}=J_L\frac{d^2{\mathrm{\θ}}_L}{{\mathrm{dt}}^2}+B_L\frac{{\mathrm{d\θ}}_L}{dt}+G_s({\mathrm{\θ}}_L-{\mathrm{\θ}}_f)---\left(12\right)$

In formula: θ_fIt is connected end angular displacement with being loaded object for torque sensor.

Acquisition output torque is:

T=G_s(θ_L-θ_f) (13)

In formula: T is loading system output torque.

Introducing hydraulic motor loading moment equilibrium equation:

$T=J_f\frac{d^2({\mathrm{\θ}}_f-{\mathrm{\θ}}_a)}{{\mathrm{dt}}^2}+B_f\frac{d({\mathrm{\θ}}_f-{\mathrm{\θ}}_a)}{dt}+G_f({\mathrm{\θ}}_f-{\mathrm{\θ}}_a)---\left(14\right)$

The output torque transmission function that can obtain loading system is

$T\left(s\right)=\frac{G_{L2}\left(s\right)\·G_s}{G_{L4}\left(s\right)}\{G_{L1}\left(s\right)u_L-G_{L3}\left(s\right){\mathrm{s\θ}}_L\}---\left(15\right)$

In formula: K_tmL=K_cL+C_slL；

Wherein K_tmLTotal flow pressure coefficient for loading system.

The modeling of described steering gear control system comprises the steps.

Introducing steering wheel servo valve flow equation:

Q_a=K_qax_a-K_cap_fa=K_qaG_svau_a-K_cap_fa (16)

In formula: x_aFor steering wheel valve core of servo valve displacement；P_faFor actuator load pressure；G_svaWatch for steering wheel Take valve transmission function.

Loading steering wheel hydraulic motor flow continuity equation:

$Q_a=D_a\frac{{\mathrm{d\θ}}_a}{dt}+\frac{V_a}{4{\mathrm{\β}}_e}\frac{{\mathrm{dP}}_{fa}}{dt}+C_{sla}{P}_{fa}---\left(17\right)$

Introducing steering wheel hydraulic motor rotor torque equilibrium equation:

$D_a{P}_{fa}=J_a\frac{d^2{\mathrm{\θ}}_a}{{\mathrm{dt}}^2}+B_a\frac{{\mathrm{d\θ}}_a}{dt}-T---\left(18\right)$

In conjunction with steering gear control system mathematical model, the transmission function obtaining control system is:

${\mathrm{\θ}}_a=\frac{K_{qa}{D}_a{u}_a-(\frac{V_a}{4{\mathrm{\β}}_e}s+K_c)T_{out}}{\[(\frac{V_a}{4{\mathrm{\β}}_e}s+K_c)(J_{a}s+B_a)+{D_a}^2\]s}---\left(19\right)$

The dynamic speed synchronisation control means of the electrohydraulic load simulator redundant force that the present invention provides, has Following beneficial effect:

(1) realization of this control method only needs the speed sync signal of steering gear control system；

(2) this control method can suppress steering gear control system different frequency section motion produce unnecessary Power；

(3) dynamic characteristic that can effectively suppress steering gear control system of this control method with loading is Redundant force when system dynamic characteristic difference is bigger.

Change it addition, those skilled in the art also can do other in spirit of the present invention, certainly, these The change done according to present invention spirit, within all should being included in scope of the present invention.

Claims (5)

1. a dynamic speed synchronisation control means for electrohydraulic load simulator redundant force, including:

Modeling electrohydraulic load simulator, described electrohydraulic load simulator includes loading system and rudder Machine control system intercouples, and described loading system includes that loading system servo valve, loading system control Device, loading motor and torque sensor；Described steering gear control system as Rudder Servo System, Including steering engine controller, steering wheel servo valve, inertia disc, angular transducer and steering wheel motor；

Constructive variation to electrohydraulic load simulator, by steering gear control system and loading system It is divided into Part I and Part II；Part I is that steering wheel does position control, the load that steering wheel is subject to Moment size gathers equal with loading system torque sensor；Part II is that loading system is done moment and closed Ring controls, and the motion artifacts that loading system is subject to gathers equal with steering wheel angular transducer；

The output torque transmission function of acquisition loading system:

$T\left(s\right)=\frac{G_s\·G_{L2}\left(s\right)\·G_{L1}\left(s\right)u_L}{G_{L4}\left(s\right)}-\frac{G_s\·G_{L2}\left(s\right)\·G_{L3}\left(s\right){\mathrm{s\θ}}_a}{G_{L4}\left(s\right)},$

In formula: G_L1(s)=D_LK_qL,

G_L2(s)=J_fs²+B_fs+G_f,

$G_{L3}\left(s\right)=(\frac{V_t}{4{\mathrm{\β}}_e}s+K_{cL}+K_{tpL})\·(J_{L}s+B_L)+{D_L}^2,$

$G_{L4}\left(s\right)=(\frac{V_t}{4{\mathrm{\β}}_e}s+K_{cL}+K_{tpL})\·G_{L2}\left(s\right)\·G_s+\left(G_{L2}\left(s\right)+G_s\right)G_{L3}\left(s\right)\·s;$

In formula: G_sIntegral stiffness for torque sensor Yu power transmission shaft；u_LFor loading system servo valve Control voltage；S is Laplace operator；θ_aAngular displacement for steering wheel motor rotor；D_LFor with carrier fluid The discharge capacity of pressure motor；K_qLFlow gain for loading system servo valve；J_fRotation for inertia load is used to Amount；B_fViscous damping coefficient is loaded for loading system；G_fCombining for torque sensor and angular transducer Close rigidity；V_LFor loading the volume of hydraulic motor；β_eElastic modelling quantity for hydraulic oil；C_slLFor loading The leadage coefficient of hydraulic motor；KcL is loading system servo valve flow pressure coefficient；J_LFor with carrier fluid Pressure motor rotary inertia；B_LFor loading hydraulic motor viscous damping coefficient；

The motion artifacts of steering wheel is substituted in the output torque transmission functional expression of loading system, obtains:

$T\left(s\right)=\frac{G_s{G}_{L2}{G}_{L6}}{G_{L4}{G}_{L6}-1}\[G_{L1}{u}_L-\frac{K_{qa}{G}_{L3}{D}_a{u}_a}{G_{L5}}\],$

In formula: $\begin{array}{c}{G}_{L5}\left(s\right)=\left(\frac{V_a}{4{\mathrm{\β}}_e}s+K_c\right)\left(J_{a}s+B_a\right)+{D_a}^2,\\ G_{L6}\left(s\right)=\frac{G_{L5}\left(s\right)}{G_s{G}_{L2}\left(s\right)G_{L3}\left(s\right)\left(\frac{V_a}{4{\mathrm{\β}}_e}s+K_c\right)},\\ K_c=K_{ca}+C_{sla};\end{array}$

In formula: K_qaFlow gain for steering wheel servo valve；D_aFor steering wheel hydraulic motor displacement；u_aFor rudder Machine servo valve control voltage；V_aVolume is controlled for steering wheel hydraulic motor；K_cTotal for steering gear control system Flow pressure coefficient；K_caFor steering wheel servo valve flow pressure coefficient；C_slaLeak for steering wheel hydraulic motor Coefficient；J_aInertia is rotated for steering wheel hydraulic motor；B_aFor steering wheel hydraulic motor viscous damping coefficient；

Speed sync signal is used to compensate control, loading based on dynamic speed Synchronization Control It is as follows that system controls output:

u_L=u_pid+G_ds·u_a,

In formula: u_pidExport for loading system moment closed loop PID control, G_dsFor speed dynamic compensation section；

Formula (3) is substituted in formula (2), can obtain:

$T\left(s\right)=\frac{G_s{G}_{L2}{G}_{L6}{G}_{L1}}{G_{L4}{G}_{L6}-1}{u}_{pid}+\frac{G_s{G}_{L2}{G}_{L6}}{G_{L4}{G}_{L6}-1}\[G_{L1}{G}_{ds}\·u_a-\frac{K_{qa}{G}_{L3}{D}_a{u}_a}{G_{L5}}\],$

On the right of the equation of above formula, Section 1 is the PID control output of loading system, and Section 2 is bag Generation containing redundant force and the removing method of redundant force；

Making Section 2 is zero, eliminates loading system redundant force.

2. the dynamic speed Synchronization Control of electrohydraulic load simulator redundant force as claimed in claim 1 Method, it is characterised in that the characteristic of loading system is dynamic by dynamic characteristic and the redundant force of loading system Characteristic forms, and the dynamic characteristic of system and unnecessary dynamic characteristic have identical dynamic characteristic.

3. the dynamic speed Synchronization Control of electrohydraulic load simulator redundant force as claimed in claim 1 Method, it is characterised in that dynamic speed synchroballistic link is:

$G_{ds}=K_{ep}\frac{(\frac{V_t}{4{\mathrm{\β}}_e}s+K_{cL}+K_{tpL})\·(J_L{s}^2+B_{L}s)+{D_L}^{2}s}{(\frac{V_a}{4{\mathrm{\β}}_e}s+K_{ca}+K_{tpa})\·(J_a{s}^2+B_{a}s)+{D_a}^{2}s},$

In formula:For conventional speed synchronization factor.

4. the dynamic speed Synchronization Control of electrohydraulic load simulator redundant force as claimed in claim 1 Method, it is characterised in that the modeling of described loading system includes:

Set up servo valve flow equation:

Q_L=K_qLx_L-K_cLp_fL=K_qLG_svLu_L-K_cLp_fL,

In formula: Q_LFor loading system servo valve flow；x_LDisplacement for loading system valve core of servo valve； P_fLFor loading system load pressure；G_svLFunction is transmitted for loading system servo valve；

Introducing hydraulic motor flow continuity equation:

$Q_L=D_L\frac{{\mathrm{d\θ}}_L}{dt}+\frac{V_L}{4{\mathrm{\β}}_e}\frac{{\mathrm{dP}}_{fL}}{dt}+C_{slL}{P}_{fL},$

In formula: θ_LFor loading hydraulic motor rotor angular displacement；

Loading hydraulic motor rotor torque equilibrium equation:

$D_L{P}_{fL}=J_L\frac{d^2{\mathrm{\θ}}_L}{{\mathrm{dt}}^2}+B_L\frac{{\mathrm{d\θ}}_L}{dt}+G_s({\mathrm{\θ}}_L-{\mathrm{\θ}}_f),$

In formula: θ_fIt is connected end angular displacement with being loaded object for torque sensor；

Acquisition output torque is:

T=G_s(θ_L-θ_f),

In formula: T is loading system output torque；

Introducing hydraulic motor loading moment equilibrium equation:

$T=J_f\frac{d^2({\mathrm{\θ}}_f-{\mathrm{\θ}}_a)}{{\mathrm{dt}}^2}+B_f\frac{d({\mathrm{\θ}}_f-{\mathrm{\θ}}_a)}{dt}+G_f({\mathrm{\θ}}_f-{\mathrm{\θ}}_a),$

In conjunction with loading system mathematical model, the output torque transmission function obtaining loading system is:

$T\left(s\right)=\frac{G_{L2}\left(s\right)\·G_s}{G_{L4}\left(s\right)}\{G_{L1}\left(s\right)u_L-G_{L3}\left(s\right){\mathrm{s\θ}}_L\},$

In formula: K_tmL=K_cL+C_slL,

Wherein K_tmLTotal flow pressure coefficient for loading system.

5. the dynamic speed Synchronization Control of electrohydraulic load simulator redundant force as claimed in claim 1 Method, it is characterised in that the modeling of described steering gear control system includes；

Introducing steering wheel servo valve flow equation:

Q_a=K_qax_a-K_cap_fa=K_qaG_svau_a-K_cap_fa,

In formula: x_aFor steering wheel valve core of servo valve displacement；P_faFor actuator load pressure；G_svaWatch for steering wheel Take valve transmission function；

Loading steering wheel hydraulic motor flow continuity equation:

$Q_a=D_a\frac{{\mathrm{d\θ}}_a}{dt}+\frac{V_a}{4{\mathrm{\β}}_e}\frac{{\mathrm{dP}}_{fa}}{dt}+C_{sla}{P}_{fa};$

Introducing steering wheel hydraulic motor rotor torque equilibrium equation:

$D_a{P}_{fa}=J_a\frac{d^2{\mathrm{\θ}}_a}{{\mathrm{dt}}^2}+B_a\frac{{\mathrm{d\θ}}_a}{dt}-T;$

In conjunction with steering gear control system mathematical model, the transmission function obtaining control system is:

${\mathrm{\θ}}_a=\frac{K_{qa}{D}_a{u}_a-(\frac{V_a}{4{\mathrm{\β}}_e}s+K_c)T_{out}}{\[(\frac{V_a}{4{\mathrm{\β}}_e}s+K_c)(J_{a}s+B_a)+{D_a}^2\]s}.$