The issues of surplus torque in the hardware-in-loop loading simulation are studied. The mathematical model of e-lectro-hydraulic loading simulator (EHLS) is built up. The concepts of surplus torque disturbance coefficients are put forward for the quantitative analysis of the composition of surplus torque, and definition method for the disturbance coefficients is given . Mechanism of suppression of the surplus torque by traditional velocity synchronization scheme and its drawback are analyzed. An improved scheme based on the traditional velocity synchronization scheme is proposed which uses the velocity error between the rudder and loading system to conduct secondary compensation for surplus torque. Effectiveness of the proposed scheme is proved by experimental results. EHLS with the proposed scheme has an ideal effect on dynamic loading, and the ability to suppress surplus torque is improved by more than 25% compared with the traditional velocity synchronization scheme.%对地面半实物加载仿真实验中存在的“多余力”问题进行分析和研究.首先建立了电液加载系统的数学模型,提出“多余力干扰系数”的概念,并给出定义方法.利用多余力干扰系数对多余力“成分”进行定量分析,理论分析传统“速度同步控制”抑制多余力的机理以及存在的问题,并提出了改进方法.在传统“速度同步控制”的基础上,提出利用舵机和加载系统的速度差对“多余力”进行二次抑制.实验结果验证了改进方案的有效性.基于改进方法,电液负载模拟器取得了理想的动态加载效果,“多余力”抑制能力较传统的“速度同步控制”方法提高了25％以上.
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