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减速齿轮的啮合间隙是随动系统输出轴振荡的根源。它使随动系统的动态品质变坏,定位精度下降,甚至出现自持振荡而不能正常工作。本文探讨了用一种非线性变结构调节器综合的带间隙随动系统的方法。利用变结构的思想,当系统大偏差时,非线性变结构调节器投入具有相位超前作用的反间隙环节。把系统的线性部分校正成“Ⅱ”型系统,以得到较好的动态品质;而在系统小偏差时,切除反间隙环节,同时把系统校正成“Ⅰ”型系统,以提高系统上阶跃给定时系统的稳定性与定位精度。本文给出了用非线性变结构调节器综合带间隙随动系统的设计方法和调节器的参数选择方法。
Reduction gear meshing gap is the root cause of the output shaft oscillation of the servo system. It makes the dynamics of the servo system deteriorate, the positioning accuracy drops, and even self-sustained oscillation can not work properly. In this paper, we discuss a method of using a nonlinear variable structure regulator integrated gap follow-up system. The use of variable structure of the idea, when the system deviation, the nonlinear variable structure regulator into phase anti-gap phase advance role. The linear part of the system is calibrated to “Ⅱ” type system, in order to get better dynamic quality; in the system deviation, the anti-clearance part is cut off, at the same time, the system is calibrated to “Ⅰ” type system to improve the system step System stability and positioning accuracy at given time. In this paper, the design method and parameter selection method of the regulator with nonlinear variable structure regulator integrated with gap servo system are given.