电机波动力矩的重复学习控制补偿

陈娟; 张淑梅; 黄艳秋; 张袅娜

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电机波动力矩的重复学习控制补偿

测试技术及设备 | 更新时间：2020-08-12

- 电机波动力矩的重复学习控制补偿
- Repetitive study control to compensate motor moment fluctuation
- 光学精密工程 2003年11卷第4期页码：390-393
- 作者机构：
  
  1. 中国科学院, 长春光学精密机械与物理研究所, 吉林, 长春, 130022
  2. 长春工业大学, 电气与电子工程学院, 吉林, 长春, 130012
- 作者简介：
- 基金信息：
  
  吉林省科技厅基础研究资助课题()
- DOI：
  中图分类号： TH743
- 收稿日期：2003-01-16，
  
  修回日期：2003-06-19，
  
  网络出版日期：2003-08-15，
  
  纸质出版日期：2003-08-15
- 稿件说明：
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陈娟, 张淑梅, 黄艳秋, 张袅娜. 电机波动力矩的重复学习控制补偿[J]. 光学精密工程, 2003,(4): 390-393

CHEN Juan, ZHANG Shu-mei, HUANG Yan-qiu, ZHANG Niao-na . Repetitive study control to compensate motor moment fluctuation[J]. Editorial Office of Optics and Precision Engineering, 2003,(4): 390-393
陈娟, 张淑梅, 黄艳秋, 张袅娜. 电机波动力矩的重复学习控制补偿[J]. 光学精密工程, 2003,(4): 390-393 DOI：

CHEN Juan, ZHANG Shu-mei, HUANG Yan-qiu, ZHANG Niao-na . Repetitive study control to compensate motor moment fluctuation[J]. Editorial Office of Optics and Precision Engineering, 2003,(4): 390-393 DOI：

摘要

为较好地解决伺服系统的低速抖动问题

研究了重复学习控制方法抑制电机波动力矩等非线性干扰

以提高系统的低速平稳性问题。在讨论电机波动力矩成因的基础上

重点研究了电机齿槽效应引起的电机力矩波动的理论模型、量值大小等问题

并在模型转台上进行了实验测试。实验结果表明了理论分析的正确性

并证明了电机波动力矩的周期性。根据上述结论

引用重复学习控制来抑制这种周期性干扰

介绍了带有低通滤波器和前馈滤波器的改进型重复学习控制器的设计方法

设计了实际的控制系统。对采用重复学习控制的伺服系统进行正弦跟踪实验测试

结果说明

重复学习控制较好地补偿了低速或零速附近的系统死区特性

系统的跟踪误差最大值为0.72″。

Abstract

To solve the jitter problem of a servo system at low speed

the repetitive control method is studied to check the non linear disturbances such as motor moment fluctuation for improving the stability of low speed. After analyzing the reason of motor moment fluctuation

the theoretical model and quantity of the fluctuation caused by the motor's alveolus effect are discussed

and some experiments are made in the practical model system. The results show that the theoretical analysis is correct

and the fluctuation is periodical. The repetitive control law is introduced to check the periodical fluctuation. The design method of this controller and the control system are also discussed. The sine tracking experiments for the speed loop with repetitive controller were conducted. The results show that the repetitive control compensates the system's dead zone very well at low speed or zero crossing

and the maximum tracking error is 0.72″.

关键词

Keywords

references

陈娟. 伺服系统低速特性与抖动补偿研究[D]. 长春: 中科院长春精密机械与物理研究所. 2001.36-50.CHEN J. Study on low-speed properties and jitter compensation of the servo system[D]. Changchun: Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, 2001.36-50.(in Chinese)

从爽, ALESANDRO D C. 两种补偿动态摩擦力的先进控制策略[J]. 自动化学报. 1998, 24(2): 15-21.CONG S, ALESANDRO D C. Two advanced control strategies for the compensation of dynamic friction[J]. Automatic Transaction. 1998, 24(2): 15-21.(in Chinese)

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HARA S, OMATA T, NAKANO M. Synthesis of repetitive control systems and its application[A]. Proc 24th Conf Decision Contr[C].1985.1384-1392.

CAUUDAS D W C. LISCHINSKY P. Adaptive friction compensation with partially known dynamic friction model. Int [J].Journal of Adaptive Control and Signal Processing, 1997,11:65-80.

张锦江,陈兴林.基于摩擦自适应补偿的转台变结构控制器设计[J].哈尔滨工业大学学报, 2000, 32(4):92-95.ZHANG J J,CHEN X L. The design of rotation table varied-structure controller based on friction adaptive compensation[J], The Transaction of Harbin University of Technology, 2000, 32(4):92-95.(in Chinese)

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