含有摩擦环节伺服系统的Volterra泛函级数分析

An analysis of the servo system with friction by Volterra series

采用Ｖｏｌｔｅｒｒａ泛函级数法分析了ＰＤ控制器控制的、含有摩擦环节的伺服系统．根据系统模型求出了其一阶幅频确定方程，然后通过对其解的分析得出了系统产生爬行的条件并用数值方法进行了验证，从而为优化控制器参数和实施摩擦补偿以消除爬行现象奠定了基础．

The servo system with friction governed by PD controllers is analyzed. According to the model of the system, its one order determining equations are derived. Furthermore, the condition of stickslip is rvealed by analyzing its solutions and verified by numerical integration, on the basis of which the controller parameters could be optimized and stickslip could be eliminated by friction compensation techniques.