LAUSR

A load emulation compound correction compensation control approach based on demand torque analysis of the electric drive system (EDS) and the parameter perturbation of the load emulation of rigid-flexible coupling transmission (RFCT) is proposed to address the problem of poor stability and accuracy during the load emulation of the RFCT test bench in a semi-anechoic chamber. First, a speed closed-loop tracking (SCLT) controller without the inverse dynamics model is designed by considering the demand torque decision-making link, and the influence of the RFCT nonlinearity and the perturbation parameter on the speed tracking accuracy are investigated. Subsequently, a speed feedforward correction compensator without the RFCT model is also designed. Finally, a load torque feedforward correction compensator is designed, and the compensation adjustment gain is used to accurately account for the dynamic error of the load torque caused by the inertia error of the RFCT. The simulation and experimental results show that the proposed compensation control method can accurately realize the load emulation of the EDS test bench and is suitable for application to load emulation systems that use a multi-inertia mechanical long axis to connect the device under test (DUT). Moreover, it can effectively improve the dynamic response of the SCLT and the loading torque accuracy and is robust and adaptable.