基于SISOtool的力伺服控制系统的设计  

Controller Design of Force Servo System Based on SISOtool

作　　者：邹宇鹏 石永军[1] 孙少华 吴宝贵[1] 王诺 ZOU Yupeng;SHI Yongjun;SUN Shaohua;WU Baogui;WANG Nuo(College of Mechanical and Electronic Engineering,China University of Petroleum,Qingdao 266580,Shandong,China)

机构地区：[1]中国石油大学(华东)机电工程学院,山东青岛266580

出　　处：《实验室研究与探索》2019年第1期118-122,162,共6页Research and Exploration In Laboratory

基　　金：国家自然科学基金项目(51705534);中央高校基本科研业务费专项基金项目(18CX02085A);山东省自然科学基金项目(ZR2016EEB12)

摘　　要：Matlab-SISOtool工具箱为经典单输入-单输出控制系统的设计和分析提供了一个实时交互式环境。以柔索驱动力伺服控制系统设计为例。建立系统的数学模型;在此基础上,分析柔索驱动前向通道传递函数频率特性,明确基本控制问题;确定柔索驱动单元复合控制策略;利用SISOtool工具箱对系统前向通道控制器进行详细设计;对柔索驱动复合力控制策略进行了实验研究。设计过程以及实验结果表明,SISOtool工具箱简化了单输入-单输出控制系统的设计过程,设计过程更加直观、高效。SISOtool工具箱对于控制理论的学习及控制系统的设计都具有重要的参考意义。The Matlab-SISOtool toolbox provides a real-time interactive environment for the design and analysis of the single input and single output control systems.This paper takes the controller design of cable-driven force servo system as an example.First,the mathematical model of the system is established.Based on this,the forward channel frequency characteristics of the cable-driven system are analyzed.Then the basic control problem is clarified and a hybrid force control strategy is designed.Further,the SISOtool toolbox is used to design the forward channel controller in detail.Finally,the hybrid force control strategy is studied experimentally.The design process and experimental results show that the SISOtool toolbox simplifies the design process of single input and single output control system.The design process is more intuitive,more efficient,and has a better design effect.The SISOtool toolbox has important reference significance for the learning of control theory and the design of control system.

关 键 词：单输入单输出系统 控制系统 计算机辅助设计 力伺服系统 

分 类 号：TP391.0[自动化与计算机技术—计算机应用技术]