摘要
为了提高双电机驱动的某火炮弹丸协调臂位置控制性能,该文提出了一种基于负载转矩估计的新型同步消隙控制方法。与传统基于电流信号的消隙控制方法不同,该文以负载转矩为参考信号进行消隙控制,同时设计了扩张状态观测器实现负载转矩估计,并以负载转矩估计值为参考信号设定消隙偏置电流,有效地削弱了齿隙的影响。此外,结合交叉耦合同步控制方法,提出一种基于负指数函数的消隙与同步融合策略,有效地抑制了同步误差并避免了差速振荡。仿真结果表明:与常规基于电流信号的消隙与同步融合控制方法相比,该文方法的位置误差峰值减小了38%以上,并且加速了同步误差衰减。
In order to improve the control performance of the projectile coordination arm driven by two motors of an artillery,a new load torque estimation based synchronous anti-backlash control method is proposed in this paper.Different from the traditional current signal based anti-backlash control method,the proposed method uses the load torque as characteristic signal for anti-backlash control,and an extended-state observer is designed to estimate the load torque,then the anti-backlash bias current is set based on the estimated torque,thus the influence of the backlash is effectively reduced.Moreover,by combing with the cross-coupling synchronization control method,a fusion strategy of anti-backlash control and synchronization control is proposed by using negative exponential function,thus the synchro error is effectively reduced and the speed-deviation oscillation is also avoided.Simulation results show that,compared with synchronous anti-backlash control method based on current signals,the proposed method can reduce the peak value of position error by more than 38%,and the synchronization error attenuation is accelerated.
作者
常帅川
邹权
汪杰昊
Chang Shuaichuan;Zou Quan;Wang Jiehao(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)
出处
《南京理工大学学报》
CAS
CSCD
北大核心
2024年第6期737-746,共10页
Journal of Nanjing University of Science and Technology
关键词
弹丸协调臂
双电机驱动
消隙控制
同步控制
扩张状态观测器
projectile coordination arm
dual motor drive
anti-backlash control
synchronous control
extended-state observer
