摘要
为了克服静摩擦与库伦摩擦给伺服系统带来的稳态误差和低速爬行问题,提出了一种复合伺服控制,这种控制是由PID控制与前馈控制组成。基于典型转台机械系统的动力学,设计了伺服系统的仿真模型。仿真结果表明,由所提出的复合控制构成的伺服控制系统可以基本消除系统低速爬行问题和提高系统稳态精度。
In order to solve the problem of system steadily state error and system crawl caused by system friction torque, a complex control method was put forward. The control method is composed of PID control and front feedback control. Based on a dynamics of a rotational mechanical system, simulation model of a servo system was designed. The simulation result indicateds that the servo control system with complex control method can eliminate system crawl and improve system steadily state precision.
出处
《机床与液压》
北大核心
2006年第4期164-166,184,共4页
Machine Tool & Hydraulics
关键词
伺服系统
稳态误差
爬行
摩擦力矩
PID控制
前馈补偿控制
Servo system
Steadily state error
Crawl
Friction-torque
PID control
Front feedback control
