Torque servo system design of reaction torque measurement device

According to the control requirement of reaction torque measurement device, a torque servo control system was designed by using synthesis of constant control system. Thus the output torque responds to the measured torque quickly and precisely. By analyzing the principle of the torquer, the third order transfer functions of the torque and position responses under the condition of step torque input were obtained, and relations between parameters of the model and position interference rejection index and torque servo index were analyzed through simulation. Based on the relations, the parameters of the model were chosen, and the transfer function of position response was determined. And the PID controller was designed based on comprehensive consideration of position interference rejection and torque tracking performance. Experiments show that the controller designed upon the third order model of the position response meets the requirements of the system.