摘要
针对高精确度速率转台调试中存在的波动力矩干扰问题,在分析了干扰产生机理的基础上,通过实验测试确定了波动力矩的频率成分,并给出了具体的数学表达式。采用重复控制方法,分析了系统的稳定条件,设计重复控制器,实现对此类波动力矩的有效抑制。实验测试结果表明,设计的重复控制器能够克服周期性的波动力矩干扰,速率稳定性能优于常规的控制器。
The principle of the motor moment fluctuation subjected to periodical disturbance in rate table servosystem is analyzed. The quantity and mathematic expression of the moment fluctuation are presented by expefimenfion. The repetitive control law is introduced to suppress the periodical fluctuation, and the stability condition of the repetitive control system is given. Experimental results show that disturbances are rejected efficiently when this approach is used, and the performance is better than normal controller.
出处
《电机与控制学报》
EI
CSCD
北大核心
2007年第2期207-210,共4页
Electric Machines and Control
关键词
速率转台
波动力矩
重复控制
rate table
fluctuating moment
repetitive control
