基于激光传感器的机械减速器的优化设计  

Optimal design of mechanical decelerator based on laser sensor

作　　者：陈换美[1] 柴春花[1] 郭振华[2] 

机构地区：[1]巴音郭楞职业技术学院,新疆库尔勒841000 [2]石河子大学,新疆石河子832003

出　　处：《激光杂志》2018年第3期159-162,共4页Laser Journal

摘　　要：为了提高机械减速器的控制鲁棒性和平稳性,降低减速器的阻尼误差,提出一种基于激光传感器的机械减速器优化控制设计方法。采用激光传感器对机械减速控制的阻尼力、输出扭矩以及悬轴力矩等参量进行信息采样,构建机械减速器的控制约束参量模型,采用滑膜稳态积分控制方法进行控制器设计,在常规滑膜面上加入阻尼误差积分项,实现减速器的阻尼误差跟踪测量,通过自适应反馈调节实现机械减速器的平稳减速。仿真实验表明,采用该方法进行机械减速器控制设计,减速器的稳定性较高,阻尼力输出的平滑性较好,减速度趋近平衡,防止机械部件的冲击损伤。In order to control the robustness and stability of improved mechanical decelerator and reduce damping error of reducer, proposes a design method of decelerator optimization control based on laser sensor. Using laser sensor on damping force, output torque, suspension shaft torque and more other parameters of mechanical decelerator control to obtain information samples. Construct the control constraint parameter model of mechanical decelerator, design con- troller by using slide steady-state integral control method, add integral damping error in conventional sliding surface to realize damping error tracking measurement of decelerator. Finally through adaptive feedback to achieve steady decel- eration. Simulation results show that this design has higher stability, the smoothness of the output damping force and speed equilibrium which can prevent the impact damage of mechanical parts.

关 键 词：激光传感器 机械 减速器 控制 阻尼 

分 类 号：TN91[电子电信—通信与信息系统]