【摘要】 基于某型机电集成超环面传动的机电耦合动力学模型,得到该传动的速度传递函数,推导了加入校正后系统的状态空间表达.考虑该系统的工程实际要求,建立了最优控制理论模型,求得了最优控制律.解得黎卡提矩阵方程,得到反馈增益矩阵,应用Matlab软件对跟踪响应情况和最优控制输入进行了仿真,明显改善了系统的动态性能,实现了比例积分(PI)控制与最优控制的结合.研究结果对该类型传动的实际应用具有指导意义.更多还原

【Abstract】 Based on the electromechanical coupled dynamic model of a generic electromechanical integrated drive system,the speed transfer function was obtained,and the state space express of the system with a regulator was derived. Considering the requirement of engineering practice,the theoretical model of optimal control was built,and the optimal control rule was obtained. The Riccati matrix equation was solved,the feedback gain matrix was acquired,and the tracking response and optimal control input were simulated with Matlab software. Finally,the dynamic performance was greatly improved,and the combination of proportion integration (PI) regulator and optimal control was achieved. The results offer meaningful instruction for the practical application of the generic drive system.更多还原