基于工业仿真器的齿隙非线性控制方法的实验研究  

Experimental Research on the Nonlinear Control Method of Backlash Based on Industrial Simulator

作　　者：钱玉恒[1] 王佳伟[1] QIAN Yu-heng;WANG Jia-wei(Experiment and teaching Center for flight vehicle control,Harbin Institute of Technology,Harbin 150001 China)

机构地区：[1]哈尔滨工业大学飞行器控制实验教学中心,黑龙江哈尔滨150001

出　　处：《自动化技术与应用》2018年第7期92-96,共5页Techniques of Automation and Applications

基　　金：黑龙江省教学研究项目(编号SJGY20170623)

摘　　要：本文依托工业仿真器系统对控制系统中普遍存在的齿隙非线性问题展开了齿隙控制实验研究。首先进行了无齿隙和有齿隙两种情况的同位控制和非同位控制实验,结果表明齿隙非线性对于同位控制和非同位控制的性能存在影响;其次引入了内回路同位速率反馈加外回路非同位控制方法并进行了实验,结果表明此方法有效地降低了齿隙的影响,同时提升了系统的抗干扰能力,获得了良好的控制实验效果。In this paper,the experimental research on the backlash control is carried out based on the industial emulator system for the backlash nonlinear problem in the control system.First of all,synchronous control and non-synchronous control experiments of no-backlash and blacklash are studies,and the results show that backlash nonlinear has an effect on the performance of synchronous control and non-synchronous control.Secondly,the internal loop synchronousrate feedback and the external loopnon-synchronouscontrol are carried out,and the results show that this method can effectively reduce the influence of backlash,and improve the anti-disturbance ability of the system,and obtain the good effect in control experiment.

关 键 词：齿隙 同位控制 非同位控制 干扰 控制算法 

分 类 号：TH132.4[机械工程—机械制造及自动化]