CAJ | 학술논문

提出了一种针对全数字式交流伺服电机离散控制工作状态下的建模与仿真方法.深入分析了全数字式交流伺服系统的位置脉冲控制工作模式及其表达方式,给出了速度PI控制条件下的全数字式交流伺服电机系统传递函数和系统滞留脉冲传递函数.比较全数字式交流伺服系统对不同周期、不同形状的脉冲控制序列波形响应发现,交流伺服驱动器滞留脉冲造成的速度误差主要与输入脉冲信号的加速度成正比,当速度曲线出现拐点时(加速度突变),速度误差则出现突变,突变的幅度与离散计算的重加速度成正比.这说明如果在运动控制中,必须采用加速度连续变化的加减速控制,才能避免滞留脉冲较大的突变,达到较高的运动控制精度.研究表明,无论速度输入是哪种形式,由模型计算的速度误差与实际测量结果相吻合,证明了提出方法的正确性和实用价值.
제출료일충침대전수자식교류사복전궤리산공제공작상태하적건모여방진방법.심입분석료전수자식교류사복계통적위치맥충공제공작모식급기표체방식,급출료속도PI공제조건하적전수자식교류사복전궤계통전체함수화계통체류맥충전체함수.비교전수자식교류사복계통대불동주기、불동형상적맥충공제서렬파형향응발현,교류사복구동기체류맥충조성적속도오차주요여수입맥충신호적가속도성정비,당속도곡선출현괴점시(가속도돌변),속도오차칙출현돌변,돌변적폭도여리산계산적중가속도성정비.저설명여과재운동공제중,필수채용가속도련속변화적가감속공제,재능피면체류맥충교대적돌변,체도교고적운동공제정도.연구표명,무론속도수입시나충형식,유모형계산적속도오차여실제측량결과상문합,증명료제출방법적정학성화실용개치.
A new method for modeling full digital AC servo motors in discrete pulse control was proposed.The position pulse control mode and its expression of the full digital AC servo system were analyzed,and in speed PI control the transfer functions of the AC servo system and the sys-tem lag pulse were derived.A comparison of responses of pulse series during different periods and forms of the AC servo system in the simulation and experiment shows that the speed error caused by the system lag pulse is mainly proportional to the acceleration of the input pulse,and as inflex-ion in speed curve(acceleration jump)occurs the speed error jumps with ns amplitude propor-tional to the ierk.To avoid large j ump in speed error and realize high precision motion control,the continuous change of acceleration must be guaranteed in the speed control process.And the compute speed errors well coincide with the experimental results despite of the input signal forms,which verifies the correctness of the presented modeling method.