CAJ | 학술논문

位置闭环、速度闭环和电流闭环组成的三环结构,是目前被普遍认同的位置伺服系统控制结构.然而在某些特定场合,例如点对点运动控制场合中,重点是要求系统位置响应的动态性能,而对速度调节的性能要求并不高.这时,速度闭环不仅没有发挥作用,还作为控制结构中的串联环节,降低了系统位置调节动态响应性能.针对这些特定的场合,本文研究了全数字位置闭环和电流闭环组成的两环结构位置伺服系统,并利用阶跃响应性能和梯形响应性能,在相同命令信号和相同控制对象的条件下,与三环系统作比较.仿真和实验结果显示,两环系统的位置动态响应时间小于三环系统,并且两环系统中位置前馈复合控制同样可以使用,以减小梯形响应中稳态位置跟踪误差.两环系统应用到点对点运动控制的特定场合比较合适,但因没有速度闭环调节功能,系统应用到轨迹运动控制场合中有局限性.
위치폐배、속도폐배화전류폐배조성적삼배결구,시목전피보편인동적위치사복계통공제결구.연이재모사특정장합,례여점대점운동공제장합중,중점시요구계통위치향응적동태성능,이대속도조절적성능요구병불고.저시,속도폐배불부몰유발휘작용,환작위공제결구중적천련배절,강저료계통위치조절동태향응성능.침대저사특정적장합,본문연구료전수자위치폐배화전류폐배조성적량배결구위치사복계통,병이용계약향응성능화제형향응성능,재상동명령신호화상동공제대상적조건하,여삼배계통작비교.방진화실험결과현시,량배계통적위치동태향응시간소우삼배계통,병차량배계통중위치전궤복합공제동양가이사용,이감소제형향응중은태위치근종오차.량배계통응용도점대점운동공제적특정장합비교합괄,단인몰유속도폐배조절공능,계통응용도궤적운동공제장합중유국한성.
The conventional position servo control structure, composed of position closed-loop, speed closed-loop and current closed-loop, has obtained the widespread approval. Nevertheless, in some applications such as point-to-point motion control, the dynamic performance of position response is required strictly, and the control performance of speed signal is not important. Speed closed-loop regulator is not suitable here because it will decrease the dynamic performance of position response for being a series link in the whole control structure. Based on this reason, two-loops control structure of position servo system, only with position closed-loop and current closed-loop, is proposed in this paper. In the same reference signal and the same control object, simulation and experimental results show that the time of dynamic response for the proposed system is shorter than that of the conventional system in both the step response and the trapezoid response. Moreover, the hybrid feed-forward control also can be applied in the proposed system, just as in the conventional system, to decrease the stable position tracking error in the trapezoid response. A conclusion can be drawn that the two-loops control structure has advantage in the point-to-point motion control application. However, it is not suitable to be applied in the trajectory motion control without speed regulator.