摘要
高精度伺服系统因为要采用衰减很大的相位滞后校正而使系统成为条件稳定系统 .而由于实际系统中存在着饱和环节 ,使条件稳定系统在大偏差下出现不稳定 .利用运算放大器的饱和特性 ,设计了非线性校正装置来解决这个稳定问题 .介绍了系统设计原则 ,并用相平面法结合描述函数法证明了这种具有多个非线性系统的稳定性 .这样既扩大了系统稳定工作范围 ,又易于实现 ,并成功应用于伺服转台控制系统中 .
It is necessary for high precision servo systems to use phase lag compensation with large attenuation to make the system stably conditioned. Because there are saturation elements in real systems, they may cause the stably conditioned system become unstable for large offset errors. A nonlinear compensator with proper use of the saturation of the operational amplifier is introduced to solve this stability problem. The design principle is discussed, and the stability of the system with multiple nonlinearities is proved by using the combination of the phase plane and the describing function method.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2001年第3期406-409,共4页
Journal of Harbin Institute of Technology
关键词
伺服系统
条件稳定性
饱和
非线性校正
servo system
conditional stability
saturation
nonlinear compensation
