摘要
针对主动消振用电力作动器及其控制系统的特征,建立了电力作动器的数学模型,并研究了基于电力消振作动器用双电机伺服控制系统策略。分析了伺服三环控制策略,并对各环路参数进行整定。同时针对偏心轮式负载的周期性脉动转矩对系统输出力的影响,建立了偏心轮周期性脉动负载模型,通过负载前馈策略来抑制负载周期性的脉动。最后,对上述系统进行了仿真和实验,实验结果显示输出力的力幅误差降低至5%,力幅变化300N所需的时间小于0.5s,满足系统减振的指标要求,实现了优化伺服控制策略的目的。
Aiming at the characteristics of active vibration attenuation electric actuator and its control system,the mathematical model of electric actuator was established,and the strategy of dual motor servo control system based on electric vibration attenuation actuator was studied.The three-loop servo control strategy was analyzed and the parameters of each loop are tuned.At the same time,aiming at the influence of periodic fluctuating torque of eccentric wheel load on the system output force,a periodic fluctuating load model of eccentric wheel was established,and the periodic fluctuation of load was suppressed by load feedforward strategy.Finally,the simulation and experiment of the above system were carried out.The experimental results show that the error of force amplitude of output force is reduced to 5%,and the time required for the change of force amplitude 300 N is less than 0.5 s,which meets the requirements of vibration reduction index of the system and achieves the goal of optimizing servo control strategy.
作者
甘渊
张绮瑶
向洋
郝振洋
曹鑫
邵陈懋
GAN Yuan;ZHANG Qiyao;XIANG Yang;HAO Zhenyang;CAO Xin;SHAO Chenmao(College of Automation,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)
出处
《微电机》
北大核心
2020年第2期43-49,共7页
Micromotors
关键词
消振作动器
伺服控制
双电机控制
负载前馈
damping actuator
servo control
dual motor control
load feedforward