摘要
从大型转台的基本控制需求出发,分析了大型转台传动过程中的非线性环节对转台运动的影响,建立了双电机驱动转台以消除间隙的动力学模型,研究了大型转台的基本控制结构及精密控制算法,设计了预置力矩、速度平衡控制器、位置控制器,消除了间隙和死区等非线性环节的影响,达到了双电机驱动的转速同步。研究过程中对系统的阶跃响应、正弦响应、负载扰动响应等进行了试验分析,最终实现了大型转台的精确位置控制,并已得到实际应用。
Based on the basic control requirements of large-scale turn-table, the influence of the nonlinear components in the turn-table＇s transmission process on the motion of turn-table was analyzed, established a gap eliminating dynamic model of double motor-driving turn-table and discussed the basic control structure and pre- cise control algorithm of large-scale turn-table. Preset torque, velocity balance controller and position controller were designed to eliminate the influence of nonlinear components like gap and dead zone, then, the rev-synchro- nization of double driving motors was achieved. During the research,the step-response,sine-response and load disturbance response of the system were tested and analyzed. Finally,the precise position control of the large- scale turn-table was realized and was used in practice.
出处
《电气传动》
北大核心
2010年第7期42-45,49,共5页
Electric Drive
基金
国家重点基础研究发展计划项目(2007CB714000)
关键词
大型转台
非线性
双电机同步驱动
预置力矩
large-scale turn-table
nonlinear
double motor synchrodrive
preset torque
