CAJ | 학술논문

为了克服电动加载系统中存在直接影响加载精确度和动态性能的多余力矩强扰动以及电机、机构等非线性因素,提出了一种以转速闭环作为内环、力矩闭环作为外环,以及位置闭环作为外环补偿的复合控制策略,它能够对多余力矩和非线性因素进行隔离抑制. 从系统的抗干扰性、鲁棒性等方面与传统单转矩闭环进行了理论分析和比较,转矩闭环采用模糊自适应PID控制算法,以提高加载系统的自适应能力. 实验结果表明,与传统闭环控制效果相比,复合控制能够有效抑制多余力矩干扰,提高了力矩跟踪精确度和系统动态性能.
위료극복전동가재계통중존재직접영향가재정학도화동태성능적다여력구강우동이급전궤、궤구등비선성인소,제출료일충이전속폐배작위내배、력구폐배작위외배,이급위치폐배작위외배보상적복합공제책략,타능구대다여력구화비선성인소진행격리억제. 종계통적항간우성、로봉성등방면여전통단전구폐배진행료이론분석화비교,전구폐배채용모호자괄응PID공제산법,이제고가재계통적자괄응능력. 실험결과표명,여전통폐배공제효과상비,복합공제능구유효억제다여력구간우,제고료력구근종정학도화계통동태성능.
To overcome the disturbance of surplus torque and the nonlinearity of motor and mechanical mechanism which deteriorate the precision of load tracking and dynamic performance in the electric load-ing system, a multi closed-loop control strategy with closed-loop speed as the inner loop, closed-loop torque as outer loop and closed-loop position as compensation was proposed. The system performances of disturbance rejection, robustness and nonlinear compensation were analyzed and compared with single-loop torque control. The closed-loop torque adopts fuzzy adaptive PID algorithm for increasing adaptive function. Compared with traditional closed loop, the experimental results show that the proposed method effectively suppresses the disturbance of surplus torque and the nonlinearity, improves the control preci-sion and dynamic performance of the electric loading system.