To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design...To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design problem can be solved using QFT but it fails to guarantee a high precision tracking. This problem is solved by a robust digital QFT control scheme based on zero phase error （ZPE） feed forward compensation. This scheme consists of two parts： a QFT controller in the closed-loop system and a ZPE feed-forward compensator. Digital QFT controller is designed to overcome the uncertainties in the system. Digital ZPE feed forward controller is used to improve the tracking precision. Simulation and real-time examples for flight simulator servo system indicate that this control scheme can guarantee both high robust performance and high position tracking precision.展开更多
为了准确辨识进给系统摩擦特性,提高数控机床加工精度,论文以Stribeck摩擦模型作为辨识对象,针对传统的摩擦辨识方法存在的问题,提出了在分析加速运动过程反馈信号的基础上再进行匀速测试的辨识方法。基于该方法进行实验,并使用EMD(Empi...为了准确辨识进给系统摩擦特性,提高数控机床加工精度,论文以Stribeck摩擦模型作为辨识对象,针对传统的摩擦辨识方法存在的问题,提出了在分析加速运动过程反馈信号的基础上再进行匀速测试的辨识方法。基于该方法进行实验,并使用EMD(Empirical Model Decomposition)方法和最小二乘法对实验数据分析后得到了摩擦模型的参数;实验结果表明文中提出的方法与传统的摩擦模型辨识方法对比,具有操作简单、节省实验时间和辨识准确的特点。展开更多
基金This project was supported by the Aeronautics Foundation of China (00E51022).
文摘To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design problem can be solved using QFT but it fails to guarantee a high precision tracking. This problem is solved by a robust digital QFT control scheme based on zero phase error （ZPE） feed forward compensation. This scheme consists of two parts： a QFT controller in the closed-loop system and a ZPE feed-forward compensator. Digital QFT controller is designed to overcome the uncertainties in the system. Digital ZPE feed forward controller is used to improve the tracking precision. Simulation and real-time examples for flight simulator servo system indicate that this control scheme can guarantee both high robust performance and high position tracking precision.
文摘为了准确辨识进给系统摩擦特性,提高数控机床加工精度,论文以Stribeck摩擦模型作为辨识对象,针对传统的摩擦辨识方法存在的问题,提出了在分析加速运动过程反馈信号的基础上再进行匀速测试的辨识方法。基于该方法进行实验,并使用EMD(Empirical Model Decomposition)方法和最小二乘法对实验数据分析后得到了摩擦模型的参数;实验结果表明文中提出的方法与传统的摩擦模型辨识方法对比,具有操作简单、节省实验时间和辨识准确的特点。
