摘要
针对传统三环控制应用于弹性伺服系统存在的到位抖动和拖尾现象,建立了双惯量系统数学模型,详细分析传统结构导致位置闭环阻尼低的原因。提出调整速度环结构并结合谐振比控制的方法保证速度闭环系统的高阻尼;采用等实部配置、零极点对消和多项式法对三环参数进行设计,实现高阻尼位置闭环特性。仿真结果表明,所提高阻尼位置控制能很好抑制到位抖动,位置跟踪平滑,拖尾现象相比于传统P-PI控制得到显著改善。
The traditional three-loop position control applied in the servo system with elasticity causes residual vibration around the objected position and has long trailing time.To address this issue,a mathematical model of the two-inertia system was established,and the causes of low-damping of the traditional position closedloop structure were analyzed in detail.It was proposed to modify the speed loop structure combined with resonance-ratio control to guarantee the high-damping of the closed-loop system.The controller parameters were designed by use of the equal real part design,zero-pole elimination and polynomial method to achieve the highdamping characteristics.Simulation results show that the proposed high-damping position control can well suppress the fluctuation,achieve smooth position tracking,significantly reduce the trailing phenomenon compared with traditional P-PI method.
作者
万江坤
孙延超
宋鹏宇
牛泽农
黄文新
WAN Jiangkun;SUN Yanchao;SONG Pengyu;NIU Zenong;HUANG Wenxin(China Aerospace Science and Industry Nanjing Chenguang Group,Nanjing 210006,Jiangsu,China;College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,Jiangsu,China)
出处
《电气传动》
2025年第1期3-8,共6页
Electric Drive
关键词
双惯量系统
位置控制
谐振比控制
控制器参数设计
two-inertia system
position control
resonance-ratio control
controller parameters design
