基于多周期有限维重复控制的转台动不平衡扰动抑制  

DISTURBANCE ATTENUATION IN TURNTABLE DYNAMIC UNBALANCE ON THE BASIS OF MULTI-PERIOD FINITE-DIMENSIONAL REPETITIVE CONTROL

作　　者：徐凤霞[1] 曾鸣[1] 苏宝库[1] 

机构地区：[1]哈尔滨工业大学控制科学与工程系,哈尔滨150001

出　　处：《机械工程学报》2006年第8期40-43,共4页Journal of Mechanical Engineering

基　　金：武器装备预研基金(51409050101HT0121)

摘　　要：通过建立三轴转台的动不平衡模型,得出转台存在多周期扰动力矩。该多周期扰动力矩与转台三轴转速有关,影响转台的定位精度、位置精度和速率精度。为抑制三轴转台系统的扰动力矩,提出多周期有限维重复控制方法,并证明该方法能消除多周期扰动引起的转台系统误差。仿真结果表明多周期有限维重复控制可以有效地抑制转台系统存在的动不平衡扰动。The turntable having multi-period disturbance torque is obtained by setting up the dynamic unbalance model of three-axis turntable. The multi-period disturbance torque is related to three-axis rotate speed of turntable and influences localization precision, position precision and speed precision of turntable. In order to attenuate system disturbance torque of three-axis turntable, the method of multi-period finite-dimensional repetitive control is proposed and proves to be a success in attenuating the systematic error of turntable caused by multi-period disturbance. The result of simulation shows that multi-period finite-dimensional repetitive control can attenuate dynamic unbalance disturbance of turntable system effectively.

关 键 词：三轴转台 动不平衡 多周期扰动 有限维重复控制 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]