多电机同步联动系统的动力学建模及消隙控制算法研究

【作者】 王建侠；

【导师】 郭毓；

【作者基本信息】 南京理工大学 ， 控制理论与控制工程， 2004， 硕士

【摘要】 本文以新型炮控系统的研制和改造的国防预研项目——多电机同步联动伺服系统为背景，介绍了四电机同步联动伺服系统的总体设计，并利用机理分析法，将电机侧的参数转换到负载侧，建立了双电机同步联动伺服系统的动力学模型。在双电机联动的建模基础上，建立了四电机同步联动伺服系统的动力学模型，并通过MATALAB仿真，验证了模型的准确性。从系统的基本结构入手，研究了伺服系统中普遍存在的非线性因素，除了从机械上消除这些非线性因素的影响外，本文还研究了基于描述函数法和最优控制算法的消隙控制器，讨论了这两种控制算法消除齿隙非线性的机理，并通过仿真验证了消隙的有效性，得出了有意义的结论。更多还原

【Abstract】 In this paper, Multi-motor synchronized driving servo system is studied. It is based on the project of the design and reconstruction of new style cannon. The whole design of four-motor synchronized driving servo system is introduced and its principles and anti-backlash schemes are analyzed. After building the model of double-motor synchronized driving servo system, the kinetic model of four-motor servo system is constructed. The veracity of it is tested by simulation. From the basic construction of the system, the nonlinear factors in some servo systems are studied. Except for getting rid of these factors from mechanism, describing function analysis of an anti-backlash controller and optimal control algorithms are studied how to be applied to the elimination of backlash nonlinear. By simulation and testing, some useful results are gained.更多还原