摘要
为了探究伺服驱动系统中,由于机械传动装置有限的刚度而引发的机械谐振现象,甚至当振幅较大,超过轴系所能承受的最大转矩范围而引发系统安全问题,在双惯量弹性系统模型基础上,研究速度环控制器的4种不同实现方法的控制性能,即工程设计法、极点配置法、轴矩状态反馈法设计的PI控制器和模型预测控制器。通过4种方法的仿真结果,分析了相应的控制效果,同时验证了模型预测控制为最优的控制策略:在抑制机械谐振的同时,可以在保证系统快速动态性能的基础上,对轴矩实现任意限幅功能,从而加强系统运行的安全性。
In servo-drive systems, the stiffness of transmission mechanism is limited which will lead to mechanical resonance and if the oscillation amplitude is larger than the tolerance that the shaft can with-stand, it will lead to the system safety problems. In order to study these problems, based on the model of two-mass elastic system, the four design schemes of speed controller were analyzed. They are engineering design method, pole placement method and shaft torque state feedback, all of which are all based on PI controller and model predictive controller. Control effects of the four strategies were compared by the sim-ulation results. Model predictive controller was verified as the optimal control strategy which can suppress mechanical resonance successfully. Moreover, based on the fast dynamic performance, the function of shaft torque limit at arbitrary value can be achieved to strengthen the operating safety of the system.
出处
《电机与控制学报》
EI
CSCD
北大核心
2015年第4期58-64,共7页
Electric Machines and Control
基金
国家自然科学基金(61273147)
关键词
伺服驱动系统
机械谐振
轴矩限幅
模型预测控制
servo system
mechanical resonance
shaft torque amplitude limiting control
MPC
