摆臂高频往复旋转定位控制参数整定  

Setting of Positioning Control Parameters for the Swing Arm in High-frequency Progressive Rotation

作　　者：曾卓 龚时华[1] 鹿怀庆 王子悦[1] Zeng Zhuo;Gong Shihua;Lu Huaiqing;Wang Ziyue(College of Mechanical Science and Engineering,Huazhong University of Science and Technology, Wuhan Hubei 430074, China)

机构地区：[1]华中科技大学机械科学与工程学院,湖北武汉430074

出　　处：《电气自动化》2019年第2期83-85,共3页Electrical Automation

基　　金：国家自然科学基金(51375192)

摘　　要：摆臂因为质量轻、结构紧凑而被广泛应用,其在高频往复旋转下的定位精度将直接影响装备的性能。为使摆臂在极限位置有良好位置控制性能,提出了一种基于PI控制的最佳前馈控制策略。不仅可以在不增大位置超调的情况下提高系统响应性能,还可以只需要上位装置提供位置插补指令、不需要辨识系统模型就能直接进行参数整定。试验结果表明:基于PI控制最佳前馈控制策略提高了摆臂在极限位置时的定位精度。The swing arm is widely used because of its light weight and compact structure, and its positioning accuracy in high-frequency progressive rotation will directly influence the performance of the equipment. In order that the swing arm might have good position control capability at its limit position, this paper proposed a PI control-based optimal feed-forward control strategy. This strategy could not only improve the response performance of the system without increasing position overshoot, but also perform parameter setting without a recognition system model, if only the upper device provided a position interpolation instruction. Test results indicated that the optimal feedback control strategy based on PI control could raise the positioning accuracy of the swing arm at its limit position.

关 键 词：摆臂 定位控制 参数整定 前馈 PI控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]