摘要
摩擦力矩是高精度伺服转台控制系统中最主要的扰动力矩,也是影响系统低速跟踪性能的最主要因素。针对系统中动态摩擦力矩的影响,并且为了进一步提高系统的位置跟踪性能,本文提出一种重复自适应控制方法,仿真研究验证了所提方法的有效性。
The friction torque is main disturbance torque in the high precise servo turntable control system and is the main factor that influences the low velocity tracking performance of the system.Aimed at the influence of dynamic friction torque to the system and in order to improve the system’s position tracking performance,the paper proposes a repetitive adaptive control method.The effectiveness of the proposed method is testified by simulations.
出处
《自动化技术与应用》
2010年第10期32-36,共5页
Techniques of Automation and Applications
关键词
伺服转台
低速跟踪性能
扰动力矩补偿
重复自适应控制
servo turntable
low velocity tracking performance
disturbance torque compensation
repetitive adaptive control
