Force servo controller design of electric control loading system

According to loading speed, high precision and strong stability, we design the force servo controller based on STM32 processor. During the motion process, the force servo controller can timely and accurately eliminate the excess torque, using CAN bus communication for data exchange with the host computer, precisely measuring the force in real time by the force sensor and calculating model force in real time by location feedback. Meanwhile, to solve the problem of load-induced movement caused by the mechanical structure of the control loading system, we designed a kind of decoupling control algorithm to eliminate induced movement. Experimental results show that the tracking accuracy of the system error is less than 15%, the step characteristics of the system response time less than 0.1s, and the feel of pilots for induce motion in the control loading system meet the design requirements.