电压对含有齿隙伺服系统的影响

The Effects of Voltage on Servo System with Backlash

为了研究电机输入电压和传动间隙对伺服系统带宽的影响,建立了含有齿隙伺服系统的模型,得出了伺服系统反谐振频率和谐振频率的计算公式。通过对不同电压和齿侧间隙下伺服系统的仿真,定量地给出了齿侧间隙大小和电压与该机构响应频率的对应关系。对于一个带有减速器的伺服系统,这样就能够确定满足带宽下的最大输入电压和最大传动间隙。

In order to study the influence of motor input voltage and backlash on servo system bandwidth, the servo system model with backlash is established and two formulas which can calculate the resonance frequency and anti - resonance frequency of servo sys- tem are obtained. By adjusting the voltage and the backlash of the servo system, the corresponding relationship of response frequency of gear mechanism, gear backlash and voltage is also presented. It then becomes possible to determine the necessary maximum input volt- age of the motor and the admissible magnitude of the total backlash to satisfy the desired bandwidth for a servo system with a gear reducer.