两种补偿动态摩擦力的先进控制策略
Two Advanced Control Strategies for Dynamic Friction Compensation
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摘要: 在小型DC伺服电机中,静摩擦力和库仑摩擦力的影响是相当明显的.本文提出 了改善系统响应特性的两种控制策略.第一种基于摩擦力模型的在线补偿.适用于变化信 号的跟踪.第二种基于自学习原理的重复控制,适用于周期信号的跟踪.两种控制策略均已 实施在计算机控制的伺服系统中.给出了与常规控制结果的对比.Abstract: The effects of static and coulomb friction are obvious in small size DC servomotors. The paper proposes two control strategies for improving the systems performance. The first, the on-line friction model based compensation, is suitable for tracking variable signals. The second, the repetitive control, based on self-learning principles, is suitable for tracking periodic signals. These two control strategies have been implemented on computer-based servo devices. The comparisons with conventional control results are given.
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Key words:
- Motion control /
- advanced control strategy /
- friction compensation /
- repetitive control
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