机电伺服系统低速问题研究进展

Research status and development of low speed problems for electromechanical servo system

机电伺服系统在低速时的运行特性是系统性能的重要指标,研究机电伺服系统的低速问题,可以提高系统速率跟踪精度,对其他非线性系统的控制与设计具有一定参考价值。总结与讨论了当前机电伺服系统低速问题研究所涉及的系统低速性能影响因素与评估、低速爬行、低速速率估计、摩擦问题及补偿、量化误差及干扰观测等研究内容,并对其研究现状、研究热点与存在问题进行分析,最后指出了低速问题研究的发展方向。

The low-speed operating characteristics of electromechanical servo system are the important indicator of system performance. The speed tracking precision of system can be improved based on studying on the low-speed problems of electromechanical servo system, which has the reference value to control and design of other nonlinear system. In this paper, the influence factors and assessment of system, the low-speed creeping, the estimation of low-speed, the friction problem and compensation, the quantization error and disturb- ance observation of studying on low-speed problems of electromechanical servo system at present are discussed.The research status and hotspot, and the existing issues are analyzed. Finally, the development direction of studying on low-speed problems is indicated.