闸机电机控制系统振荡抑制研究

Study on Oscillation Suppression for Motor Control System of GATE

针对齿轮传动的闸机电机控制系统因齿隙非线性引起的振荡问题,采用基于扰动观测器的振荡抑制策略,达到主动抑制系统振荡的目的。首先在分析闸机电机传动系统结构基础上,建立双惯量传动系统的数学模型及齿隙的死区模型;然后分析了齿隙对双惯量系统的影响及引起系统振荡的机理,针对齿隙的影响,采用扰动观测器观测因齿隙引起的等效扰动转矩并补偿到转矩控制环路中达到抑制系统振荡的目的;最后实验验证了该方案的有效性。

Aiming at the oscillation problem caused by backlash nonlinearity of gear driven motor control system of GATE, this paper adopted the oscillation suppression strategy based on disturbance observer to suppress the system oscillation actively. Firstly, analysis of the structure of the motor drive system of GATE, the mathematical model of the double inertia drive system and the dead zone model of the backlash were established, and the influence of the backlash on the double inertia system and the mechanism of system oscillation were analyzed. Then, according to the influence of backlash, disturbance observer was used to observe the equivalent disturbance caused by backlash and compensate it to the torque control loop to suppress the system oscillation. Finally, the effectiveness of the proposed scheme was verified by experiments.