摘要
以永磁同步直线电动机直接驱动工作台作为研究对象,其滚柱导轨机械接触摩擦力使工作台位置伺服系统表现出粘滑特性,分析了摩擦力对系统性能的影响。辨识了该位置伺服系统的力常数(13.37 N/A)和机械时间常数(128 ms)。基于该系统的模型和辨识参数,采用极点配置法设计了I-PD控制器,闭环极点为-2π×20时,可以有效地抑制粘滑,其定位误差可以达到光栅传感器的分辨率0.5μm。
The worktable driven directly by a permanent magnetic synchronous linear motor was studied, The stick-slip phenomenon of the position servo system was shown by the mechanical contact friction with linear guide. The effects of friction on the system performance were analyzed. Force constant（ 13.37 N/A） and mechanical time constant（ 128 ms） were identified. I-PD controller was designed by pole placement based on the linear model and identified parameters. Stick-slip was suppressed and the positioning error of the servo system achieved the grating＇s resolution 0.5 μm through choosing an appropriate closed-loop pole -2π×20.
出处
《微特电机》
北大核心
2012年第3期4-6,共3页
Small & Special Electrical Machines
