基于含间隙非线性的极限环补偿策略研究

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英文篇名：Research on Limit-ring Compensation Strategy Based on Nonlinear Inclusion 作者：迟平 ; 马殷元 英文作者：CHI Ping;MA Yin-yuan;Mechatronic T&R Institute, Lanzhou Jiaotong University; 关键词：间隙非线性 ; 极限环振荡现象 ; 补偿策略 ; 状态反馈 英文关键词：gap non-linearity;;limit-ring oscillation phenomenon;;compensation strategy;;state feedback 中文刊名：DLDZ 英文刊名：Power Electronics 机构：兰州交通大学机电技术研究所;甘肃省物流及运输装备信息化工程技术研究中心; 出版日期：2019-01-20 出版单位：电力电子技术 年：2019 期：v.53;No.314 基金：甘肃省自然科学基金(1606RJZA031);; 兰州交通大学优秀科研平台资助计划(201604)~~ 语种：中文; 页：DLDZ201901022 页数：4 CN：01 ISSN：61-1124/TM 分类号：86-89

摘要

为解决伺服传动机构中因传动间隙引起的极限环振荡现象,提出一种基于含间隙双惯量控制系统的状态反馈补偿策略。首先建立含间隙的双惯量系统模型,然后针对全闭环伺服系统中出现的极限环振荡现象,提出陷波滤波器和状态反馈控制两种补偿策略,通过仿真证明了状态反馈补偿策略对间隙引起的极限环振荡现象有更好的抑制效果,最后在设计的含间隙传动平台上进行实验数据对比,进一步验证了该补偿策略的有效性,达到了有效提高系统控制精度的目的。
        In order to solve the limit-ring oscillation caused by transmission gap in servo drive mechanism, a state feedback compensation strategy based on dual inertia control system with backlash is proposed.Firstly, a double-inertia system model with clearance is established.Then two compensation strategies of notch filter and state feedback control are proposed for the phenomenon of limit-ring oscillation in a fully closed-loop servo system.Simulation results show that the strategy of state feedback compensation.The limit-ring oscillation phenomenon has a better suppression effect.Finally, the experimental data comparison is carried out on the designed gap-containing transmission platform to further verify the effectiveness of the compensation strategy and achieve the purpose of effectively improving the control accuracy of the system.

引文

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