摘要
提出了同时以速度和加速度作为参考输入量进行多余力的消除的结构不变性原理的改进方法;进一步研究了位置同步补偿的优点和不足,提出利用舵机伺服阀的控制信号进行速度同步控制抑制多余力矩的新方案。最后给出了基于线性理论的复合控制方法,仿真和试验结果证明该方案在系统的动态品质、鲁棒性和消扰能力等方面具有相当好的效果。
The extraneous force (or torque) is not only related to velocity but also related to accelerator. These two quantities are both introduced as the feedforward reference to eliminate extraneous force. Furthermore, the position synchronizing method studied and then a speed synchronizing schema suggested based on actuator control variable. Subsequently a hybrid control method is put forward, in which feedforward and speed feedback technology is adopted, which are benefit for the quick response and system steady. The simulation and experiments prove that this schema results in a quick response, robustness, and excellent ability against disturbance.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2002年第12期34-38,共5页
Journal of Mechanical Engineering
基金
国家自然科学基金资助项目(50075006)。
