摘要
针对磁力齿轮的低刚度特性,从具体的控制策略角度开展磁力齿轮在伺服驱动系统中应用的研究。建立了包含磁力齿轮伺服开环系统的物理以及数学模型,利用极点配置算法对系统闭环极点进行配置,重点引入观测器设计,主要内容包括观测器控制器的设计原理、算法、实例以及仿真分析,实现系统的闭环控制。仿真结果表明:该观测器可以很好的实现对一些难以直接获得的状态变量进行观测,从而使得相应的极点配置得以在实际系统中实现,并且系统获得了良好的动、静态响应。
The magnetic gears have the characteristics of low stiffness,which is normally regarded as the main barrier for their widespread application in the systems with high-bandwidth dynamic transients. This paper aimed to propose a control scheme of servo drive system with magnetic gears. Firstly, a representative physical and mathematical model under a specific load was built. Then the state observer and pole placement of modern control theory were used to build a closed loop control system to realize the desired dynamics response. More specifically speaking,it mainly included the design principle,the control algorithm,the example and the computer simulation.Simulation results verified that the pole placement achieves better dynamic performance of the system,and the state observer can successfully observe those state variables that cannot be gotten directly from the original system.
出处
《机械科学与技术》
CSCD
北大核心
2015年第3期334-338,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(51175325)资助
关键词
磁力齿轮
伺服系统
极点配置
状态观测器
closed loop control
closed loop control systems
computer simulation
controllers
dynamic response
eigenvalues and eigenfunctions
errors
gears
Laplace transtorms
magnetic gear
mathematical models
MATLAB
pole assignment
servo system
servomotors
state observer
stiffness
transfer functions
