摘要
针对力矩电机驱动的单自由度稳定平台抑制振动能力,分别采用实际摩擦模型、粘滞摩擦模型的速率环仿真和实验方法,分析了稳定平台对基座角速率扰动的抑制频率特性。仿真与实测结果对比表明,抑制比频率特性与摩擦特性有很大关系,对大角速率扰动,低频段和高频段抑制频率特性优于中频段;对小角速率扰动,高频段抑制能力变小。
Aiming at the disturbance rejection characteristic of an single axis stabilized turntable is driven by torque motor. There methods are used to analyze the rejection frequency characteristic of the turntable against its base angular rate disturbance： rate loop simulation with real friction model, rate loop simulation only with viscous friction and experimental frequency characteristic measurement. The simulation and experiment results show that the rejection frequency characteristic has close relationship with the characteristic of the friction. The rejection ratio in middle frequency range is worse than that in low and high frequency range for big angular rate disturbance. The rejection ratio in high frequency will become bad if the amplitude of the angular rate disturbance becomes small.
出处
《电机与控制学报》
EI
CSCD
北大核心
2007年第1期25-28,共4页
Electric Machines and Control
关键词
稳定
角速率
扰动
抑制
stabilization
angular rate
disturbance
rejection
