三明治结构挠性传动系统的PID-P复合控制  

PID–P compound control of flexible transmission system with sandwich structure

作　　者：孟范伟 宋朋涛 刘凯 杨朋辉 MENG Fan-wei;SONG Peng-tao;LIU Kai;YANG Peng-hui(School of Control Engineering,Northeastern University at Qinhuangdao,Qinhuangdao Hebei 066004,China;School of Electronic and Information Engineering,Xi’an Jiaotong University,Xi’an Shaanxi 710049,China)

机构地区：[1]东北大学秦皇岛分校控制工程学院,河北秦皇岛066004 [2]西安交通大学电子与信息学部,陕西西安710049

出　　处：《控制理论与应用》2020年第11期2432-2440,共9页Control Theory & Applications

基　　金：国家自然科学基金项目(61903072);中央高校基本科研业务专项资金(N182304010);河北省自然科学面上基金项目(F2019501012)资助.

摘　　要：针对三明治系统的弱阻尼挠性模态引起的机械谐振问题及齿隙非线性因素的影响给出了一种PID–P复合控制方法.系统中齿轮力矩反馈至齿轮前端经死区非线性后引起振荡加剧.为此本文提出将系统结构中的反馈齿轮力矩当作扰动信号来处理,设计了基于对象输入输出的内环反馈扰动观测器.文中给出的控制器未知参数配置的系数表法简单易懂,且物理意义清晰.仿真结果表明,文中提出的外环PID–P控制和内环反馈型扰动补偿的复合控制策略可以很好的抑制由齿轮间隙引起的振荡,而且可以获得较好的扭矩传递性能.更重要的是相对于先进的控制设计理论来说,控制器易于实现.This paper proposes a compound torque control method to solve the mechanical resonance problem caused by the weak damping flexible mode of sandwich system and the influence of backlash based on PID–P controller.The gear torque is fed back to the front end of the gear,and the vibration is intensified after the signal passes through the backlash nonlinearity.In this paper,the feedback gear torque is treated as disturbance signal,and an inner loop feedback disturbance observer based on object input and output is designed.The parameters of the controller can be designed by coefficient diagram method.This method is simple and easy to understand,and the physical meaning is clear.Analysis and simulation results show that the compound control strategy of outer loop with PID–P control and inner loop with feedback disturbance compensation can solve the vibrations caused by gear backlash,and get better torque transfer performance.More importantly,compared with the advanced control theory,this controller is easy to realize.

关 键 词：振动控制 扰动抑制 弱阻尼挠性模态 三明治系统 PID–P控制 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置]