摘要
为提高伺服驱动系统控制品质,简化典型伺服驱动系统结构,建立了包含电机和负载的双惯量伺服驱动系统模型;分析了双惯量伺服驱动系统机械谐振产生的原因,分别讨论了惯量比、传动轴刚度系数和传动轴阻尼系数对双惯量伺服驱动系统机械谐振的影响。采用模型预测控制方法对系统的机械谐振进行抑制控制,设计了基于状态空间表达式的模型预测控制器,通过仿真和对比常规PID控制方法进行验证。结果表明:利用模型预测控制方法能有效的抑制伺服驱动系统的机械谐振,可为多惯量伺服驱动系统的机械谐振分析及抑制方法研究提供参考。
In order to research the mechanism of mechanical resonance of servo drive system and improve the control quality of servo drive system,the structure of typical servo drive system is simplified,and a two-mass servo drive system model including motor and load is established.The causes of mechanical resonance of two-mass servo drive system are analyzed,and the effects of inertia ratio,stiffness coefficient and damping coefficient of transmission shaft on mechanical resonance of two-mass servo drive system are discussed respectively.The model predictive control method is used to suppress the mechanical resonance of the system.The model predictive controller based on the state space expression is designed,and is verified by simulation and experiment compared with the conventional PID control method.The results show that the model predictive control method can effectively suppress the mechanical resonance of servo drive system,which provides a reference for the mechanical resonance analysis and suppression method research of multi-inertia servo drive system.
作者
王晶晶
陆宇
刘永康
谢长贵
WANG Jingjing;LU Yu;LIU Yongkang;XIE Changgui(School of Intelligent Manufacturing & Transportation, Chongqing Vocational Institute of Engineering, Chongqing 402260,China;School of Vehicle Engineering, Chongqing University of Technology, Chongqing 400054, China)
出处
《重庆理工大学学报（自然科学）》
CAS
北大核心
2022年第2期257-265,共9页
Journal of Chongqing University of Technology：Natural Science
基金
国家自然科学基金项目(51805061)
重庆工程职业技术学院院级科研项目(KJB202002)。
关键词
伺服驱动系统
机械谐振分析
模型预测控制
双惯量
servo drive system
mechanical resonance analysis
model predictive control
two-mass
