电动直线加载系统多闭环复合控制  

Electric Linear Loading System with Multi Closed-up Compound Control

作　　者：徐志伟[1] 范元勋[1] 

机构地区：[1]南京理工大学机械工程学院,南京210094

出　　处：《组合机床与自动化加工技术》2017年第8期89-92,96,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：为实现对某型航天用直线运动伺服系统的半物理实物加载测试,设计了一种模拟其实际受载的电动直线加载系统。针对电动直线加载系统多余力矩强扰动及其他非线性因素影响力矩跟踪精度的问题,提出一种引入前馈补偿,以力矩闭环作为外环、转速闭环为内环的多闭环复合控制策略,并在力矩外环采用模糊自适应PID控制器。给定阶跃信号和正弦载荷进行直线加载跟踪性能对比仿真分析,结果表明在不同频率下有效满足跟踪性能要求;在不同扰动频率和幅值情况下进行多余力矩抑制对比仿真分析,与传统闭环相比,多闭环复合控制策略有效地抑制了加载系统的多余力矩,提高了直线加载跟踪精度和系统动态响应性能。To realize the handware-in-the-loop loading test of a certain type of linear motion servo system in space application, an electic linear loading system is designed for simulating the actual working condition of the linear motion servo system. To solve the problem that the disturbance of surplus torque and the nonlin- earity deteriorate the precision of torque tracking in the electric linear loading system, a multi closed-loop control strategy with closed-loop torque as outer loop, closed-loop speed as the inner loop and feed-forward compensation is proposed. And the closed-loop torque adopts fuzzy adaptive PID algorithm. The step signal and sine load singal is given and the linear load tracking performance is contrastively simulated and ana- lyzed. The results show that the proposed method effectively meets the tracking performance requirments. The simulation of surplus torque inhibition is contrastively analyzed under the condition of different disturb- ance frequency and amplitude. Compared with traditional closed-loop, the proposed method effectively sup- presses the disturbance of surplus torque, improves the tracking precision and dynamic performance of elec- tric linear loading system.

关 键 词：电动直线加载系统 模糊自适应PID 多闭环复合控制 多余力矩抑制 

分 类 号：TH166[机械工程—机械制造及自动化] TG506[金属学及工艺—金属切削加工及机床]