On Low-Speed Problem of High Precision Servo System
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摘要: 采用相平面法、代数分析法和李雅普诺夫稳定性定理得出了三阶系统克服低速滞滑爬 行的判定定理.通过该判定定理得到系统参数与低速滞滑爬行的关系,在满足常规稳定控制器 参数选择范围的基础上,给出了为消除低速滞滑爬行,PID控制器参数还应满足的条件.该判定 定理简单实用,对于高精度伺服系统的调试具有很好的指导意义.Abstract: The criteria of overcoming low-speed slip-stick phenomenon of third-order system is given by using phase plane method, algebra analyzing method and Lyapunov stability theorem. The relationship between system parameter and low-speed slipstick phenomenon is found, and the condition of choosing the parameter of PID is given, which should satisfy the purpose of overcoming low-speed stick-slip and guaranteeing the stability. This method is simple and easy to implement. It has directive significance to high precision servo system.
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Key words:
- Low-speed slip-stick /
- stability criterion /
- friction
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