【摘要】 谐振常常造成伺服系统不稳定,影响其控制性能。首先建立光电控制系统的动力学方程,分析了谐振和反谐振产生的原因。伺服系统同样也受到反谐振的影响,并且反谐振出现在谐振之前。由于间隙和摩擦的影响,谐振往往会随之变化,很难用固定的陷波器去补偿。提出一种负载加速度反馈控制算法减小谐振的影响,由此形成三闭环控制模式。根据提出的加速度反馈算法3条准则设计加速度控制器,采用此控制方法速度闭环带宽提高了5Hz左右,谐振峰减小了15dB。并且200Hz以后的谐振迅速衰减,提高了系统的稳定性。更多还原

【Abstract】 Direct drive systems produce mechanical resonances and anti-resonance because mismatch between load and DC force motor is too much, and the connect shaft seems to have low stiffness. The resonance and anti-resonance are varied because of some uncertainties about backlash and friction, so it is difficult to compensate using notch filter or some other methods. A well known lumped-parameter model is utilized to simulate tracking control system. The bandwidths of velocity loop and high gain controller are restricted by resonances, resulting in deteriorating tracking precision. A novel controller based on load acceleration feedback control is proposed to reduce mechanical resonance, which is used for inner loop of velocity loop. We propose three design regulations for the controller. The experiments verify the algorithm availably. Results with load acceleration feedback control show that compared with only velocity feedback, bandwidth of rate loop is enhanced 5Hz and resonance peak reduces 15dB. Acceleration feedback control improves the robustness and stability of the system.更多还原