摘要
研究了光电跟踪系统低速干扰的动态补偿方法。对影响系统低速性能的两个主要干扰源,即摩擦力矩干扰和电机波动力矩干扰进行了理论分析和实验测试。针对低速干扰力矩的特点,分别采用了基于和不基于摩擦模型的动态补偿方法,并进行了实验验证。两种方法实时性强,简单易实现。
The dynamic compensation methods of Low-speed disturbances for an optoelectronic tracking system are discussed here. First, the two main disturbances at low speed, friction and motor moment fluctuation, are analyzed theoretically and tested out. Aiming at the features of the disturbances, we work out two controllers: one is based on the friction model and the other is not. Both controllers are proved by the experiments to be realizable, and they can work in real time.
出处
《电气自动化》
北大核心
2003年第6期9-12,共4页
Electrical Automation
基金
吉林省科技厅自然科学基金资助
中科院重点资助
关键词
伺服系统
光电跟踪系统
干扰
力矩
动态补偿
Low-speed disturbance dynamic optoelectronic tracking friction motor moment fluctuation
