中文摘要：

对负载模拟器中无刷直流电机力矩控制方法的研究,可以提高电动负载模拟器的加载精度和动态性能。对无刷直流电机的力矩进行控制,需要根据电机多余力矩得到电压平衡方程,完成对电机的力矩控制。传统方法通过计算负载模拟器中无刷直流电机不同取值时的反电动势估计误差,对直流电机力矩进行控制,但忽略了建立多余力矩电压平衡方程,导致控制效果不理想。提出基于科尔摩根理论的负载模拟器中无刷直流电机力矩控制方法。利用电机多余力矩的传递函数,计算出负载模拟器直接驱动电机引起的电机惯性多余力矩,选取科尔摩根模块化直驱旋转（DDR）电机作为负载模拟器加载系统的实施机构,给出DDR加载电机的电压平衡方程,完成对无刷电机力矩的控制模型的建立。实验结果表明,所提方法与PID控制方法相比能够有效抑制电机多余力矩,鲁棒性较优。

英文摘要：

Traditional torque control method neglects balance equation of voltage of surplus torque,which leads to unsatisfactory control effect.Hence,this article provides a method of torque control of brushless direct current motor in load simulator based on Kollmorgen theory.Using transfer function of surplus torque,we worked out surplus torque of motor inertia caused by load simulator driving motor directly and selected motor of direct drive rotation （DDR） with Kollmorgen modularization as executive organization in loading system of load simulator.Additionally,we provided balance equation of voltage of DDR load motor,then built model for torque control of brushless motor.Experimental results suggest that the method can suppress the surplus torque of motor more effectively compared with PID control method.The robustness is excellent.