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摘要：
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以负载口独立控制负载模拟系统为研究对象，针对该系统工作过程中产生的多余力导致的系统模拟负载力精度下降的问题，通过机理建模的方法建立了该系统的各组成部分以及系统的整体数学模型，分析出主系统运动输出位移与负载模拟系统输出负载力之间的耦合关系，进一步基于解耦补偿原理计算出系统多余力的补偿环节。搭建试验平台进行多余力抑制控制试验研究，主要从不同频率位置波动下的多余力抑制效果以及不同负载恒力下的多余力抑制效果两方面展开了研究，结果表明，负载口独立控制负载模拟系统在采用了多余力解耦补偿抑制控制方法后，以上工况位置扰动对负载模拟部分的力控精度的影响得到了大幅削弱，其多余力峰值消除一般可达65%以上，有效提高了负载模拟精度。
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For the load simulation system with independent metering control, considering the problem that redundant force generated during the working process of the system leads to decreased load simulation accuracy, each component and overall mathematical model of the system were established by the mechanism modeling method, and the coupling relationship between the output displacement of main system and the output load force of load simulation system was analyzed. Then, based on the decoupling compensation principle, the compensation of the system redundant force was calculated. Furthermore, a test platform was built to carry out redundant force suppression control experiments, and the research was conducted mainly from two aspects, namely, the suppression effect of the redundant force under different frequency position fluctuations and the suppression effect of the redundant force under different load constant forces. The results show that the influence of the above position disturbance on the force control accuracy of the load simulation part is greatly weakened after the redundant force decoupling compensation control method is adopted for the load simulation system with independent metering control, and the peak value of redundant force is eliminated by more than 65%, which effectively improves the accuracy of load simulation.
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基金项目：
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国家自然科学基金资助项目(51575471)
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作者简介：
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作者简介：曹晓明 (1990-)，男，博士，助理研究员，E-mail：18713520404@126.com；通信作者：姚静 (1978-)，女，博士，教授，E-mail：jyao@ysu.edu.cn
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