机械系统的反馈约束特性分析

ANALYSIS OF CHARACTERISTICS OF FEEDBACK CONSTRAINT FOR MECHANICAL SYSTEMS

对广泛应用于操作和加工机械控制的伺服驱动系统动力学及控制综合特性进行了分析，提出了反馈约束的概念。结构在受控运动中，约束形式会发生变化，相应的约束方程也随之改变且约束方程的形式一般为复杂的非线性方程。同时证明了这种动力学意义上的约束概念实际上是由于伺服系统中位置和速度反馈环节的调节作用形成的对结构运动约束的现象。通过分析得出了描述这种约束特性的反馈约束回线，分析表明，这种约束具有间隙型非线性特性。

The dynamic/control synthetic properties of the servo driving system used extensively as driving manipulators are analysed. A concept of the feedback contraint is produced. The study indicates that when the motion of the structure is controlled, constraint modes may be changed and corresponding constraint equations are also changed. However. the constraint equations express generally complex nonlinear modes. It has been proved that the constraint on the sense of mechanics is essentially that the action of the regulation due to position and speed feedback ins the servo system changes boundary conditions of the motion of the structure. Through analysis we get such a description of feedback constraint closed loop curve for this kind of constraint property. The analysis shows that the characteristics of the constraint is of gap-type nonlinearity.