【摘要】 文中以经典的三闭环伺服系统为研究对象,较为详细的论述了测流噪声、测速噪声、测位噪声以及力矩扰动噪声对跟踪精度的影响;推导了四种随机噪声与跟踪精度之间的传递函数;通过对传递函数的变换,得出了系统带宽及校正环节与随机噪声关系,为传感器选择、测量数据处理和校正环节的参数整定提供了参考;给出了随机噪声服从高斯分布情况下的仿真实验,针对随机噪声与跟踪精度的幅频特性,提出了一种分段线性化计算平均衰减倍数的方法。通过这种方法计算了四种随机噪声对跟踪精度的量化影响,并与仿真结果进行了比较,结果表明,这种分段线性化方法是正确可行的。最后,给出了四种噪声同时作用于伺服系统时的计算结果和仿真实验结果,得出了同样的结论。更多还原

【Abstract】 The classical three-loop servo system is researched, and the influences of the four kinds of random noises on the tracking precision are discussed particularly, which come from the processes of measuring current, speed, position and torque disturbance. Then the transfer functions are deduced between these random noises and tracking precision. Based on the transmutation of the transfer functions, the relation among system bandwidth, tuning arithmetic and random noises is deduced, which offers reference for choosing the sensor, processing the measured data and ensuring tuning arithmetic parameter. Moreover, an emulation experiment has been done under these random noises which obey the Gauss-distributing. And a segment linearization method is put forward upon the amplitude-frequency curve of the random noises and tracking precision, by which the influences of four kinds of the random noise on tracking precision are quantized. Comparing the quantized results with the emulated results, it has been proved that this method is correct and feasible. At last, comparing the method with the emulation under the four sorts of noise acting on the servo system at the same time, the same conclusion is gained.更多还原