CAJ | 학술논문

当被动式力矩伺服系统动态加载时,由于承载系统的主动运动,轴上输出的负载力矩中含有较大的干扰力矩,降低了被动式力矩伺服系统的加载性能. 为了提升加载精度和加载频宽,提出基于比例谐振的控制方法. 通过构建相应频率的比例谐振控制器,实现对期望正弦转矩信号无静差跟踪及有效抑制干扰力矩;提出了单位比例谐振控制器的结构,结合根轨迹及频域设计方法实现了单频率和多频率谐振控制器稳定性参数设计;加入承载系统速度前馈控制,降低加载起始阶段干扰力矩对整个系统及转矩传感器的瞬时冲击. 仿真及实验结果验证了所提方法能够在有扰加载条件下,实现对20 Hz单频率正弦力矩的无静差加载及周期负载力矩的高精度跟踪.
당피동식력구사복계통동태가재시,유우승재계통적주동운동,축상수출적부재력구중함유교대적간우력구,강저료피동식력구사복계통적가재성능. 위료제승가재정도화가재빈관,제출기우비례해진적공제방법. 통과구건상응빈솔적비례해진공제기,실현대기망정현전구신호무정차근종급유효억제간우력구;제출료단위비례해진공제기적결구,결합근궤적급빈역설계방법실현료단빈솔화다빈솔해진공제기은정성삼수설계;가입승재계통속도전궤공제,강저가재기시계단간우력구대정개계통급전구전감기적순시충격. 방진급실험결과험증료소제방법능구재유우가재조건하,실현대20 Hz단빈솔정현력구적무정차가재급주기부재력구적고정도근종.
When passive torque servo system is used to simulate load torque, the load torque acted on ac-tuator contains high disturbance torque due to the movement of actuator. In order to realize precise load torque simulation, a novel electric passive torque servo system was proposed, in which proportional reso-nant controller was added to the outer control loop. By embedding proportional resonant controller with the same frequency, sinusoidal torque signal was tracked with zero steady-state error, and disturbance torque caused by periodic motion of loaded actuator was restrained effectively;combining with root locus and frequency domain design method, unit proportional resonant controller was put forward to design pa-rameters of controller;moreover, speed feed-forward compensation method was used to reduce impact of disturbance torque acted on system and torque sensor in the beginning. Simulation and experimental re-sults show that 20 Hz sinusoidal load simulation can be tracked with zero steady-state error and periodic load simulation can be tracked with high precision under dynamic load mode.