基于直流力矩电动机的高精度位置随动系统实现

Implementation of a high precision position servo system based on DC torque motor

提出了一种采用直流力矩电动机作为执行元件的高精度位置系统实现方案。系统在结构上消除了减速装置,简化了结构,减小了误差以及消除了由此可能带来的自激振荡。整个系统设计采用位置、转速、电流三环结构。电流调节器和转速调节器采用PI调节器,位置调节器采用比例调节器。给出了系统主要环节实现方法,按照工程设计方法确定了各调节器的参数,并在MATLAB环境下对所设计系统进行了仿真。在1°和180°的阶跃给定下,系统超调量和稳态误差均为0;在幅值为5°,频率为1 Hz正弦信号输入下,系统输出能够完全跟随输入。结果表明系统具有高的定位精度和较好的跟随性能,能够满足设计要求。

An implementation project of high precision position servo system which uses the dc torque motor as executive component is presented .The structure is simplified by eliminating reduction gear, and the error is reduced as well as the self- excited oscillation is eliminated. The whole system design adopted the tricyclic structure of position loop,speed loop,and current loop to form a position servo control system. Both current regulator and speed regulator were used PI regulator, position regulator used proportional controller. Design methods for main links were also given and the parameters of the key links were determined with the help of engineering design method. The simulation model and results were given under the environment of MATLAB. Under the step inputs of 1° and 180°,the system overshoot and steady state error were all zero; The system output could completely follow the input by taking sinusoidal signal with 5°amplitude and 1 Hz frequency as system input. The results showed that the system had high location accuracy, better tracking performance and could satisfy the design request.