Two low-speed nonlinear compensations for servo system

CHEN Tao; CHEN Juan; JIANG Feng-hua

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Two low-speed nonlinear compensations for servo system

更新时间：2020-08-12

- Two low-speed nonlinear compensations for servo system
- Optics and Precision Engineering Vol. 11, Issue 1, Pages: 94-97(2003)
- 作者机构：
  
  1. 吉林省冶金设计院, 电力科,吉林长春,130021
  2. 中国科学院长春光学精密机械与物理研究所, 吉林, 长春130022
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP273.2
- Received：05 March 2002，
  
  Revised：04 October 2002，
  
  Published Online：15 February 2003，
  
  Published：15 February 2003
- 稿件说明：
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陈涛, 陈娟, 蒋风华. 伺服系统两种低速非线性补偿方法的对比实验[J]. 光学精密工程, 2003,(1): 94-97

CHEN Tao, CHEN Juan, JIANG Feng-hua . Two low-speed nonlinear compensations for servo system[J]. Editorial Office of Optics and Precision Engineering, 2003,(1): 94-97
陈涛, 陈娟, 蒋风华. 伺服系统两种低速非线性补偿方法的对比实验[J]. 光学精密工程, 2003,(1): 94-97 DOI：

CHEN Tao, CHEN Juan, JIANG Feng-hua . Two low-speed nonlinear compensations for servo system[J]. Editorial Office of Optics and Precision Engineering, 2003,(1): 94-97 DOI：

摘要

在伺服系统中

对以摩擦力矩为主的低速非线性补偿

通常采用两大类方法

一类是基于摩擦力矩模型的补偿

另一类是不基于摩擦模型补偿.针对伺服系统中低速非线性干扰

本文给出了两种控制策略来抑制伺服系统的低速抖动

一是基于库仑模型的自适应低速抖动补偿

二是高增益的PID控制补偿.进行了实验分析和比较

结果是:基于库仑摩擦模型补偿的系统最小平滑速度为0.002 4°/s

此时跟踪随机误差峰-峰值0.695″;采用PID校正时的最小平稳速度为0.029 6°/s

随机误差峰-峰值1.281 5″.得出了基于摩擦模型的自适应低速补偿控制结果优于传统的PID控制的结论

为研制出结构简单

性能优良的精密转台伺服系统提供了理论和实验依据.

Abstract

Two strategies: adaptive low speed jitter compensat ion and PID control with high gain are proposed to compensate the nonlinear factors in a servo system. Experimental results show that the minimum stable speed with adaptive control is 0.002 4°/s

and the tracking error peak-peak value is 0.695″; when the minimum stable speed with PID compensation is 0.029 6°/s

the tracking error peak-peak value is 1.281 5″.

关键词

Keywords

references

ARMSTRONG B, DUPONT P,de Wit C C. Analysis tools and compensation methods for the control of machines with friction automatica[J].A Survey of Models,1994,30(7):1083-1138.

姜玉宪. 伺服系统低速跳动问题[J]. 自动化学报, 1982, 8(2):136-144.JIANG Y X. Los speed jitter in the servo system[J].Journal of Automation, 1982,8(2):136-144.

陈娟.自适应低速摩擦补偿[J].量子电子学报, 2001,18:89-91CHEN J. Adaptive low-speed friction compensation[J].Journal of Quantum and Electronics,2001,18:89-91.

陈娟. 伺服系统低速特性与抖动补偿研究[D]. 长春:中科院长春光学精密机械与物理研究所,2001.CHEN J. Study on low-speed prperties and jitter compensation[D].Changchun:Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, 2001.

李清泉.自适应控制系统理论、设计与应用[M]. 北京:科学出版社,1990.LI Q Q. Theory design and application of adaptive control system[M]. Beijing: Science Publishing,1990.

黎俊杰,胡湘沛.精密传动用的力矩电机[J]. 光学精密机械,1983, 2:51-60.LI J J, HU X P. Torque motor used in precision driving[J].Optics and Precsion Engineering, 1983,2:51-60.

秦继荣.现代直流伺服控制技术及其系统设计[M].北京:机械工业出版社,1999 .QIN J R. Modern DC servo contrl technology and system design[M]. Beijing: Mechanical Industry Publishing House,1999.

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