Improving design of control system for dc motor-driven torque control simulator

Aim. To our knowledge, most R&D torque control simulators are motor driven. In our opinion, existing DC motor-driven torque control simulators need to be improved in two respects, which are more convenient to be explained later. In the full paper, we explain our two improvements in some detail; in this abstract, we just add some pertinent remarks to naming the first two sections. The first section is: the establishment of our model for DC motor-driven torque control simulator and its analysis. The second section is: the design of our control system. Its three subsections are: feedback of the speed of variation of torque (subsection 2.1), the design of optimal PID controller (subsection 2.2) and the rudder movement compensation(subsection 2.3). In subsection 2.1, the contrast of the step response curves of different gain coefficients shows that, when the gain coefficient equals 0.003, the control system responds quickly and has the best damping characteristics; this is the first improvement. In subsection 2.2, we design our PID controller based on the minimum error principle. In subsection 2.3, we use the invariability theory to compensate for the rudder movement, thus achieving the rapid and accurate control of the DC motor-driven torque control simulator; this is the second improvement. Finally we simulate our improved control system under different torque gradients and frequency bands. The simulation results, shown in Fig.6 and Table 3, indicate preliminarily that when the torque gradient is smaller than 4 N·m/(°) and the maximum response frequency is larger than 4 Hz, the control system performs best. The simulation results also indicate that the rudder movement is effectively compensated for when the torque gradient is small.