CAJ | 학술논문

针对柔性伺服系统中因惯量不匹配引起的中低频机械谐振问题,采用加速度补偿方法对比研究不同端口加速度反馈的惯量匹配范围. 加速度反馈等效于改变电机和/或负载机械惯量,针对惯量比的不同范围采用不同端口加速度反馈方式,实现电机与负载惯量的合理匹配,达到抑制机械谐振的目的. 综合IP转速调节器设计,通过配置系统极点,使得闭环系统具有期望的动态性能. 仿真结果验证了分析方法的有效性.
침대유성사복계통중인관량불필배인기적중저빈궤계해진문제,채용가속도보상방법대비연구불동단구가속도반궤적관량필배범위. 가속도반궤등효우개변전궤화/혹부재궤계관량,침대관량비적불동범위채용불동단구가속도반궤방식,실현전궤여부재관량적합리필배,체도억제궤계해진적목적. 종합IP전속조절기설계,통과배치계통겁점,사득폐배계통구유기망적동태성능. 방진결과험증료분석방법적유효성.
In order to suppress the low- or middle-frequency mechanical resonance existed generally in flexible servo derive system, comparative studies were carried out on acceleration feedback of different mechanical port to resonance suppression. The suppression of mechanical resonance was affected seriously by the ratio of load inertia to motor inertia, the acceleration feedback was equivalent to change the inertia of drive parts. The reasonable matching of motor and load inertia was achieved by adopting different port acceleration feedback to the different inertia ratio, and realized the purposed of mechanic resonance suppression. Furthermore, the speed regulator of IP was synthesized, and the expected dynamic performance of closed-loop system was achieved by the poles assignment. The simulation results showed the effectiveness of the proposed methods.