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控制系统的输出相位通常落后于输入信号,但在被动式加载装置中却出现相反的情况。这种系统具有高通性质,即系统传递函数分子的阶次高于或等于分母的阶次,其原因在于系统中存在“多余力矩”。本文研究多余力矩的产生、计算方法及对系统性能的影响,并通过实验与计算值的比较来证明数学模型的实用性和有效性。文中明确了加载装置的品质与多余力矩的关系,为设计加载系统提供了选择最佳参数的基本方法。
The output phase of the control system usually lags behind the input signal, but the opposite occurs in passive loading devices. This system has a high-pass property, that is, the order of the system transfer function molecules higher than or equal to the denominator, due to the existence of “extra torque” in the system. This paper studies the generation of redundant torque, calculation methods and the impact on system performance, and compares the experimental and calculated values to prove the practicality and effectiveness of the mathematical model. The paper clarifies the relationship between the quality of the loading device and the extra torque, and provides the basic method for selecting the optimal parameters for designing the loading system.