直线电动机粘滑闭环控制实验研究  

Experimental Study on Stick-Slip Closed-Loop Control for Linear Motor

作　　者：陶大锦[1,2] 袁柳斌[2] 

机构地区：[1]温州医学院,浙江温州325035 [2]西安交通大学,陕西西安710049

出　　处：《微特电机》2012年第3期4-6,共3页Small & Special Electrical Machines

摘　　要：以永磁同步直线电动机直接驱动工作台作为研究对象,其滚柱导轨机械接触摩擦力使工作台位置伺服系统表现出粘滑特性,分析了摩擦力对系统性能的影响。辨识了该位置伺服系统的力常数(13.37 N/A)和机械时间常数(128 ms)。基于该系统的模型和辨识参数,采用极点配置法设计了I-PD控制器,闭环极点为-2π×20时,可以有效地抑制粘滑,其定位误差可以达到光栅传感器的分辨率0.5μm。The worktable driven directly by a permanent magnetic synchronous linear motor was studied, The stick-slip phenomenon of the position servo system was shown by the mechanical contact friction with linear guide. The effects of friction on the system performance were analyzed. Force constant（ 13.37 N/A） and mechanical time constant（ 128 ms） were identified. I-PD controller was designed by pole placement based on the linear model and identified parameters. Stick-slip was suppressed and the positioning error of the servo system achieved the grating＇s resolution 0.5 μm through choosing an appropriate closed-loop pole -2π×20.

关 键 词：粘滑 摩擦力 直线电动机 位置伺服控制 

分 类 号：TM359.4[电气工程—电机]