摘要
为解决伺服传动机构中因传动间隙引起的极限环振荡现象,提出一种基于含间隙双惯量控制系统的状态反馈补偿策略。首先建立含间隙的双惯量系统模型,然后针对全闭环伺服系统中出现的极限环振荡现象,提出陷波滤波器和状态反馈控制两种补偿策略,通过仿真证明了状态反馈补偿策略对间隙引起的极限环振荡现象有更好的抑制效果,最后在设计的含间隙传动平台上进行实验数据对比,进一步验证了该补偿策略的有效性,达到了有效提高系统控制精度的目的。
In order to solve the limit-ring oscillation caused by transmission gap in servo drive mechanism,a state feedback compensation strategy based on dual inertia control system with backlash is proposed.Firstly,a double-inertia system model with clearance is established.Then two compensation strategies of notch filter and state feedback control are proposed for the phenomenon of limit-ring oscillation in a fully closed-loop servo system.Simulation results show that the strategy of state feedbaek compensation.The limit-ring oscillation phenomenon has a better suppression effect. Finally ,the experimental data comparison is carried out on the designed gap-containing transmission platform to further verify the effectiveness of the compensation strategy and achieve the purpose of effectively improving the control accuracy of the system.
作者
迟平
马殷元
CHI Ping;MA Yin-yuan(Mechatronic T&R Institute ,Lanzhou Jiaotong University,Lanzhou 730070,China)
出处
《电力电子技术》
CSCD
北大核心
2019年第1期80-83,共4页
Power Electronics
基金
甘肃省自然科学基金(1606RJZA031)
兰州交通大学优秀科研平台资助计划(201604)~~
关键词
间隙非线性
极限环振荡现象
补偿策略
状态反馈
gap non-linearity
limit-ring oscillation phenomenon
compensation strategy
state feedback
