摘要
为研究多轴鼓轮系统同步控制问题,提出一种独立伺服多轴同步控制系统的机电联合仿真分析方法.建立三鼓轮系统动力学模型并分析其动力学特性;基于对控制系统的分析,建立了多轴同步控制模型,整定了三环控制器参数.通过ADAMS/MATLAB联合仿真,分析主从式控制结构下相邻轴位置同步误差以及耦合控制对系统性能的影响.仿真结果表明同步误差在允许范围之内,通过添加耦合控制能有效减小系统误差.通过实验验证了主从式多轴鼓轮系统有较好的同步性能,符合设计要求.
In order to research the synchronous control of multi-axis drum system, a kind of elec tro mechanical co simulation analysis method of independent servo drive multi-axis synchronous control system was presented. Multi axis drum system model was built and its dynamic character istics were analyzed. Based on analyzing the control system, the multi-axis synchronous control model was built and controller parameters of three loops were tuned. Multi-axis synchronization error between adjacent axes was analyzed with master-slave control structure. The influence of coupling on control system was analyzed as well. Simulation results show that synchronization er rors were in permissible range and errors were reduced by adding coupling control. The experimental results indicate that the synchronization and meets the design requirements well.
出处
《工程设计学报》
CSCD
北大核心
2013年第5期368-374,共7页
Chinese Journal of Engineering Design
基金
国家自然科学基金资助项目(51075137)
关键词
ADAMS
MATLAB
联合仿真
鼓轮同步控制
耦合
ADAMS/MATLAB
co-simulation
performance of multi axis drum system is right drum synchronization control
coupling
