同步带驱动的船用柔性定位系统的建模与控制

Modeling and Control of a Timing Belt Driven Flexible Positioning System Used on Ships

以船用自动仓储为应用背景,构造了基于同步带驱动的柔性直线定位伺服系统。首先,基于集总参数法构建了系统的动力学模型。其次,设计了包含电流环、速度环、位置环在内的三闭环控制器,并对比分析了半闭环位置控制系统和全闭环位置控制系统的优劣,分析结果表明,在船舶横摇运动的干扰下,全闭环控制系统具有更高的定位精度。

A flexible linear positioning servo system driven by the timing belt was constructed for the marine automatic storage.Firstly, the dynamic model of the system was established based on lumped parameter method. Secondly, a triple closed-loop control structure was proposed, which included current loop, speed loop and position loop. Compared to the semi-closed loop control system with feedback of motor angular displacement, the full closed loop control system with feedback of load position has higher anti-rolling interference capability.