摘要
精密传动系统中传动部件的客观柔性和低阻尼的特性,将导致系统不稳定和损坏系统的精密传动部件。通过建立动力学模型分析了产生谐振的原理。为了消除谐振带来的精密系统传动不精确的影响,提出一种基于扰动反馈观测器的谐振抑制方法。将精密减速器的转矩作为输出端的扰动,通过反馈系数K的调整有效地抑制了扰动对系统伺服控制精度的影响。仿真结果表明该方法对精密传动系统的谐振抑制是有效的,提高了系统的传动输出精度和运动的平稳性。
The flexible connection and low damping characteristics of the transmission parts in precision transmission system may cause instability of the servo system and damage of the parts. In this paper, the reason of mechanical resonance is ana- lyzed through dynamic modle. In order to eliminate the influence of inaccurate precision eansed by the mechanical resonance suppression, a method based on disturbance torque feedback observer is proposed. The disturbance torque is applied to the output side of reducer and the effect of disturbance on servo control precision is effectively restrained by adjusting the feedback factor K. The simulation results show that the proposed method is effective to suppress the resonance for precision transmission system, thus the stability of speed and the positional exactness are enhanced.
出处
《机械研究与应用》
2017年第1期5-7,共3页
Mechanical Research & Application
基金
重庆市教委科学技术研究项目:精密传动系统速度谐振及功率匹配关键技术研究(编号:KJ1503910)
