摘要
为了发现计量自动化终端自动化检测流水线上下表机器人控制系统的不足之处,提出一种基于动力学模型的系统性能分析方法.从上下表机器人控制系统的微观结构出发,基于系统动力学方程,首先建立了上下表机器人控制系统动力学模型,然后采用时域分析方法分析了该模型的零极点、单位阶跃响应和单位脉冲响应,最后给出了相应的仿真结果.分析结果表明上下表机器人控制系统为一个稳定的闭环控制系统,其单位阶跃响应的超调量低,响应过程迅速.因此,利用系统动力学模型可以有效地对上下表机器人控制系统进行稳定性、动态性和其他各项性能分析.
In order to find out the shortcomings of the control system of the upper and lower table robot on the auto-verification pipeline of automatic measurement terminal, a system performance analysis method based on dynamic model is proposed. Based on the microstructure of the upper and lower table robot control system and the system dynamics equation, the transfer function model of the upper and lower table robot control system is established. And then, the zero-pole, unit impulse response and unit step response of the model is analyzed by time domain analysis method. Finally, the corresponding simulation results are given. The analysis results show that the upper and lower table robot control system is a stable closed-loop control system;the unit step response overshoot is low and the response process is rapid. Therefore, the system dynamics model can effectively analyze the stability, dynamic performance and other performance of the robot control system.
作者
李波
曹敏
李仕林
张林山
刘清蝉
田猛
王先培
LI Bo;CAO Min;LI Shilin;ZHANG Linshan;LIU Qingchan;TIAN Meng;WANG Xianpei(Electric Power Research Institute of Yunnan Power Grid Co.,Ltd.,Kunming 650217, China;Key Laboratory for Electric Power Measurement, China Southern Grid, Kunming 650217, China;School of Electronic Information, Wuhan University, Wuhan 430072, China)
出处
《武汉大学学报（工学版）》
CAS
CSCD
北大核心
2019年第10期920-926,共7页
Engineering Journal of Wuhan University
基金
南方电网公司重点项目（编号：YNKJQQ00000283）
云南电网公司重点项目（编号：YN2014-2-001）
关键词
计量自动化终端
自动化检测流水线
传递函数
动力学模型
measurement automation terminal
auto-verification pipeline
transfer function
dynamic model
