摘要
继电器型变结构控制是伺服电机普遍采用的控制方式．但由于位置滞后和惯性的存在，总会伴随出现自振现象．本文分析了产生自振的原因，并在此基础上提出了消除自振，提高伺服电机继电器型控制性能的新控制策略──改进的变结构控制．这种控制策略在切换区内引入自由运动，并按状态调整控制结构和控制参数，理论分析和实验都证明了它的有效性．
On-off VSC is an universal control method in Servo motor control system. But as a resultof position delay and inertia the self-sustained oscillation generaly existed in bang - bangcontrol system. After analysing the reason of the self-oscillation, a new control decisionimproved variable structure control is developed, which can remove the self-sustained oscillation and improve the properties of on-off control for servo motor. The new control decision includes introducing free motion into the on-off control system and regulating controlstructure and parameters with operating status of control system. The effectiveness of thecontrol method is proved by theory analysis and our experiments.
关键词
伺服电机
变结构控制
自振
servo motor
variable structure control(VSC)
self-sustained oscillation
