伺服机械系统共振模态的数值仿真方法研究

The Numerical Simulation Approach for Resonance Modes of Servo Mechanical System

在进行高精度伺服控制系统的设计时,闭环仿真环节必不可少。要进行伺服系统的闭环仿真,就必须考虑该共振模态的数学模型。本文首先介绍了伺服机械系统共振模态的数学模型,其可以看成由一个二阶微分环节和一个振荡环节相乘得到。其次,提出用一个二阶微分环节来仿真共振模态中的反共振部分,用一个振荡环节来仿真共振模态中的共振部分。最后,给出了一个共振模态的数值仿真实例。

The closed loop simulations are requisite when the servo control system with high precision is designed. The mathematical model of resonance mode must be considered when the closed loop simulations ofservo systems are performed. Firstly, the mathematical model of resonance mode is introduced in this paper. Then, this model can be regard as a product of a differentiation element and an oscillating element. Thesecond-order differentiation element is proposed to simulate the resonant part and the oscillating element is proposed to simulate the anti-resonant part. Finally, a numerical simulation case study of a resonancemode is shown.