含有齿隙伺服系统的建模与对开环频率特性的影响  

Modeling and Effects on Open-loop Frequency for Servo System with Backlash

作　　者：周金柱[1] 段宝岩[1] 黄进[1] 

机构地区：[1]西安电子科技大学电子装备结构教育部重点实验室,西安710077

出　　处：《中国机械工程》2009年第14期1722-1726,共5页China Mechanical Engineering

基　　金：国家重点基础研究发展计划资助项目(61358);国家自然科学基金资助项目(50475171)

摘　　要：建立了含有齿隙和传动轴柔性信息的伺服系统模型,得到了含有齿隙的伺服系统谐振和反谐振频率计算公式。以一个两级伺服系统为案例,研究了齿隙和减速比分配对伺服系统开环频率特性的影响,得到了一些可以指导工程中伺服系统控制器设计的结论。A model of servo system considering backlash and flexibility of shaft was established, and two formulas which can calculate the resonance frequency and anti--resonance frequency of servo system were obtained. Moreover,a servo system with a two--stage reducer was used to investigate the effects of backlash and gear ratio distribution on open--loop performance, and some conclusions are acquired,which will be helpful for designing a controller of servo system in engineering.

关 键 词：齿隙 伺服系统 谐振频率 反谐振频率 控制 

分 类 号：V556.6[航空宇航科学与技术—人机与环境工程]