摘要
由于交流伺服电动机的伺服电流受到很多干扰,难以从中直接得到有用的信息。为此,利用霍尔传感器测量了交流伺服电动机控制器输出的伺服电流,将小波变换的理论用于提取反映摩擦力动态特性的伺服电流的有用信息。在这一过程中,对它进行多分辨率分析,即把伺服电流信号分解成多个层次细节部分和平滑部分,从中识别出静摩擦力到动摩擦力过程中信息特征。通过和位移输出信号对比分析,说明在伺服电流中能提取出摩擦影响的信息。此外,还发现突变发生时刻总是早于工作台宏观运动时刻,这一提前量还需要进一步研究。
Because servo current of AC servo motor is subject to many disturbances, from which it is difficult to obtain useful information directly, the servo current coming from the controller of AC servo motor is measured by means of Hall current sensor, and then wavelet transformation theory is applied to extract useful information reflecting the dynamics of friction from this servo current. In this process, multi-resolution analysis is performed upon the servo current, which means the servo current signal is divided into several levels of details and a smooth part, from which the feature of information from static friction to dynamic friction is detected. Compared with the output signal of displacement, it is shown that information influenced by friction can indeed be extracted from the servo current. It is also found that the sudden change in the servo current always appears ahead of macroscopic movement of the worktable, which needs further study.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2005年第6期39-43,共5页
Journal of Mechanical Engineering
基金
教育部科学技术研究重点资助项目(104111)
关键词
摩擦
伺服电流
小波变换
特征提取
Friction Servo current Wavelet transform Feature extraction
