Delta机构伺服系统模型参考自适应建模  

A model reference adaptive system modeling method for a Delta mechanism servo motor system

作　　者：郎需林[1] 王永强[1] 张承瑞[1] 张岳[1] 刘亚男[1] 

机构地区：[1]山东大学机械工程学院,济南250061

出　　处：《振动与冲击》2013年第19期57-62,共6页Journal of Vibration and Shock

基　　金：国家自然科学基金资助项目(51075241)

摘　　要：为了获得Delta机构伺服系统的低阶数学模型,提出了基于Lyapunov稳定性理论的模型参考自适应建模方法,将机构单条运动链看做一个整体作为被控对象,以动态特性优良的二阶系统作为参考模型,通过试验使可调系统和参考模型达到精确匹配,最终推导出Delta机构伺服系统的低阶模型。为考察试验所得低阶模型和实际伺服模型的逼近程度,对两模型在16 s内连续输入4 000个脉冲信号时,两模型输出相差在±0.000 126弧度以内,证明所得模型具有较高的精确度。In order to obtain a low-order mathematical model of a Delta mechanism servo motor system, a model reference adaptive system (MRAS) modeling method was proposed based on Lyapunov stability theory. With this method, a single motion chain in the mechanism was treated as a whole object to be controlled while a two-order model with excellent dynamic characteristics was taken as a reference model. The low-order model of the Delta mechanism servo motor system was achieved when the adjustable system was matched accurately with the reference model through tests. To examine the approaching level between the low-order mathematical model obtained with tests and the realistic servo motor model, the two models were input with 4 000 pulse signals within 16 seconds, the difference between the two outputs was within ± 0. 000 126 radians. The results showed that the obtained model has a higher accuracy.

关 键 词：DELTA机构 伺服系统建模 模型参考自适应系统 LYAPUNOV稳定性理论 

分 类 号：TH113[机械工程—机械设计及理论] TP242.2[自动化与计算机技术—检测技术与自动化装置]