使用主动阻力矩的摩擦补偿新方法  

A Novel Friction Compensation Method Using Positive Torque Load

作　　者：庄文许[1] 杨必武[2] 马大为[1] 孟庆爱[1] 张秀维[1] 

机构地区：[1]南京理工大学机械工程学院,江苏南京210094 [2]第二炮兵装备研究院,北京100085

出　　处：《机床与液压》2012年第23期7-11,共5页Machine Tool & Hydraulics

基　　金：十二五国防预研项目(B2620110005)

摘　　要：针对旋转伺服系统中摩擦造成低速爬行和振荡现象,提出使用主动阻力矩进行摩擦补偿的方法,其原理是当伺服系统低速运行时,通过补偿系统主动增加负载阻力矩,并提高伺服系统控制器增益系数来降低系统输出调节量对摩擦力矩的灵敏度,应用灵敏度方程和稳定性理论证明了该方法的有效性。基于该方法设计了以磁流变制动器为核心的补偿系统,并将其应用于典型位置控制系统,建立仿真模型,仿真结果显示,在给定干扰力矩作用下,从零增加主动阻力矩至与干扰力矩数值比达到8时,跟踪误差波动幅值从0.45°降低至0.025°。该方法实时性好,并克服了高增益控制器容易给伺服系统带来振荡的不足,理论分析和仿真结果均表明补偿系统能有效抑制摩擦低速爬行和振荡现象。Aiming at phenomena of Vibrations and stick-slip motions caused by friction in the rotating servosystem, a novel fric- tion compensation method using positive torque load was proposed. The principle of which was, while the servosystem operated at low speed, by giving an additional torque load to compensate the system and improving gain factor of the servosystem controller, the sensi- tivity was reduced between the regulated output and friction torque load of the servo system. By using sensitivity equations and the sta- bility law, this method was proved to be efficient. Based on the method, a compensation system, which used a magnetorheological de- tent as a core was designed. And it was used in a typical position control system, and a simulation model was established. The simula- tion results show that the peak value of the tracking error undulation under a given disturbance is reduced from 0.45° to 0. 025° by in- creasing the value of the positive torque from zero to as big as eight times of the given disturbance. The method was high real-time, and the disadvantage of system vibrating when using a high gain controller was conquered. Both theoretical analysis and simulation results demonstrate that the phenomena of friction stick-slip motions and vibrations are rejected significantly by the compensation system.

关 键 词：非线性系统 摩擦补偿 爬行 扰动 仿生设计 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]