前馈在提高电动伺服系统性能中的应用  

Application of Feedforward in Improving the Performance of Electric Servo System

作　　者：许杜峰 赵睿 黄民昌 冯昊 杨鸣峰 XU Dufeng;ZHAO Rui;HUANG Minchang;FENG Hao;YANG Mingfeng(Shanghai Aerospace Control Technology Institute,Shanghai 201109,China)

机构地区：[1]上海航天控制技术研究所,上海201109

出　　处：《微电机》2023年第3期58-62,共5页Micromotors

摘　　要：电动伺服系统由于结构的柔性特性影响,会出现系统谐振现象。针对这一问题,可通过低通滤波器来衰减系统谐振峰值。由于低通滤波器的引入带来了额外的相位滞后,出于稳定性的考虑需要降低回路增益,这将影响系统响应速度。针对引入低通滤波器带来的问题,进一步研究了使用全前馈来来改善系统性能,最后通过仿真,验证了所提方法的有效性。Due to the flexible characteristics of structure,resonance phenomenon will appear in the electric servo system.To solve this problem,a low pass filter was used to attenuate the resonant peak of the system.Due to the additional phase lag brought by the introduction of low-pass filter,the loop gain needs to be reduced for the sake of stability,which will affect the system response speed.Aiming at the problems caused by the introduction of low-pass filter,this paper further studied the use of full feedforward to improve the system performance.Finally,through simulation,the effectiveness of the proposed method was verified.

关 键 词：电动伺服系统 谐振 低通滤波器 全前馈 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]