CAJ | 학술논문

为了从伺服控制参数角度分析由摩擦所造成的误差，对实验平台进行建模并根据辨识实验结果建立了精确的摩擦模型。通过理论分析及仿真，研究了不同伺服控制参数条件下，系统换向点处摩擦误差在频域与时域上的变化。总结了伺服控制系统各参数对换向点处摩擦误差的影响规律，其结果可以作为伺服控制系统参数调整及优化的参考，具有一定理论及实用价值。
위료종사복공제삼수각도분석유마찰소조성적오차，대실험평태진행건모병근거변식실험결과건립료정학적마찰모형。통과이론분석급방진，연구료불동사복공제삼수조건하，계통환향점처마찰오차재빈역여시역상적변화。총결료사복공제계통각삼수대환향점처마찰오차적영향규률，기결과가이작위사복공제계통삼수조정급우화적삼고，구유일정이론급실용개치。
In order to analyze the error caused by the friction in aspect of the parameters of servo control system,a model was built based on the experimental platform and a precise friction model was built based on identification of the experimental results.The variation of quadrant error was studied in time domain and frequency domain respectively under condition of different parameters of ser-vo control system.The law of influence of each system parameters on quadrant friction error was summarized.The results can be used as reference for the tuning and optimizing of the parameters of servo control systems,and have certain theoretical and practical values.