摘要
永磁直驱伺服系统由于摩擦和扰动的存在,无法满足系统准确性和稳定性的要求。基于此,提出采用自适应摩擦估计方法实现对系统中摩擦力矩的观测和补偿。建立直驱伺服系统的数学模型,设计了用于摩擦估计的状态观测器模型,为获得摩擦力矩的一般表达形式,通过多项式拟合,结合观测器输出,建立新的摩擦力矩一般表达式;提出一种具有补偿反馈和比例积分反馈的控制律,通过试验验证了提出的摩擦估计模型的有效性;开展了弦信号和方波信号下的试验研究。结果表明:所设计的控制方法能够有效估计和补偿系统中摩擦力,实现转角位置的高精度跟踪。
Permanent magnet direct drive servo system cannot meet the accuracy and stability requirements of the system because of friction and disturbance.Based on this,an adaptive friction estimation method was proposed to realize the observation and compensation of friction moment in the system.The mathematical model of the direct drive servo system was established,and the state observer model for friction estimation was designed.In order to obtain the general expression of friction moment,a new general expression of friction moment was established by polynomial fitting and observer output.A control law with compensation feedback and proportional integral feedback was proposed,and the friction was verified by experiments.The experimental results under sinusoidal and square wave signals show that the designed control method can be used to effectively estimate and compensate the friction force in the system and high-precision tracking of the angular position is achieved.
作者
温丽萍
郭东
WEN Liping;GUO Dong(School of Intelligent Manufacturing,Xinxiang Vocational and Technical College,Xinxiang Henan 453000,China;Network Department,Xinxiang Branch of China Mobile Communications Group Henan Co.,Ltd.,Xinxiang Henan 453000,China)
出处
《机床与液压》
北大核心
2020年第14期110-113,118,共5页
Machine Tool & Hydraulics
基金
河南省高等学校科研项目(17B510025)。
关键词
直驱伺服系统
摩擦估计
状态观测器
高精度跟踪
Direct drive servo system
Friction estimation
State observer
High precision tracking
