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摩擦是造成伺服系统在低速、速度换向等条件下精度严重下降的强非线性因素之一。采用基于模型的摩擦补偿可以有效地预测摩擦力,并实现误差补偿。在高速、高加速度的条件下,换向时摩擦变化剧烈,且过渡时间较短,采用单采样率控制补偿器结构很难实现较好的补偿效果,因此提出一种基于多采样率的摩擦补偿器结构。该补偿器利用伺服系统多环、多采样率的结构特点和指令轨迹细化方法,在不改变系统控制器结构和稳定性的条件下,通过分离前馈补偿器和反馈控制器的采样周期,以实现更为精细的前馈摩擦补偿量计算。实验结果表明,多采样率摩擦补偿器结构能够充分利用伺服控制器的结构特点和摩擦模型的预测结果,而且避免了复杂控制器的设计过程,取得了更有效的摩擦误差补偿效果。
Friction is one of the strong non-linear factors that cause the precision of the servo system to decline seriously under conditions of low speed and speed commutation. Using model-based friction compensation can effectively predict friction and achieve error compensation. Under the conditions of high speed and high acceleration, the friction changes sharply during commutation, and the transition time is short. It is very difficult to achieve a good compensation effect by adopting a single sampling rate control compensator structure. Therefore, a multi-sampling rate based friction compensation Structure. The compensator utilizes the structural characteristics of multi-loop and multi-sampling rate of the servo system and the method of instruction trajectory refinement. Without changing the structure and stability of the system controller, by separating the sampling period of the feedforward compensator and the feedback controller, In order to achieve a more sophisticated feedforward friction compensation calculation. The experimental results show that the structure of multi-sampling rate friction compensator can make full use of the structural characteristics of the servo controller and the predictions of the friction model. Moreover, the design process of the complicated controller is avoided and a more effective friction error compensation effect is achieved.