中文摘要：

为了提高电动负载模拟器的信号跟踪精度和多余力矩抑制能力，在分析系统结构和工作原理的基础上建立了电动负载模拟器系统的完整数学模型。针对电动负载模拟器中存在的力矩跟踪精度问题，提出了一种前馈补偿和基于小波网络的PID控制相结合的复合控制方法。利用改进的前馈补偿法抑制多余力矩，基于小波网络的PID控制器可以在线调整PID参数补偿系统的非线性环节，提高系统动态性能。仿真结果表明，复合控制器对多余力矩有良好的抑制效果，跟踪精度满足要求，和传统PID控制相比，系统鲁棒性得到显著提高。

英文摘要：

To improve the signal tracking accuracy and suppression of surplus torque of electric load simulator system, the structure and principle of electric load simulator were analyzed, on the basis of which a complete mathematical model of the system was established. A compound control method based on the combination of feed-forward compensation and PID control based on wavelet neural network was proposed to solve the torque tracking of the e- lectric loading system. The improved feed-forward compensation method was used to restrain the surplus torque. The PII） controller based on wavelet neural network was used to adjust the PID parameters on-line and to improve the dynamic performance of the system. Simulation results demonstrate that the compound controller has a good inhibito- ry effect on the surplus torque and the tracking accuracy meets the requirements. The system robustness is improved significantly comparing with the traditional PID control.