含复杂回路控制系统奈氏稳定判据的讨论及应用  

Discussion and Application of Nyquist Stability Criterion for Control System with Complex Loop

作　　者：刘鹏[1] 阚世鑫 王惠娟[1] 赵雷 LIU Peng;KAN Shi-xin;WANG Hui-juan;ZHAO Lei(Beijing Institute of Precision Mechatronics and Controls,Beijing 100076 China)

机构地区：[1]北京精密机电控制设备研究所,北京100076

出　　处：《自动化技术与应用》2023年第11期9-13,共5页Techniques of Automation and Applications

摘　　要：奈奎斯特频域稳定判据是判别控制系统稳定性的常用方法。它的特点是根据开环系统频率特性曲线判定闭环系统的稳定性。含复杂回路的控制系统用不同的等效化简方法会得到不同的开环传递函数。通过讨论,证明同一系统不同开环传递函数应用奈奎斯特频域稳定判据得到的闭环稳定性的结果是相同的。因此在实际工程中,可以灵活地根据系统等效化简的原则得到其开环传递函数。应用上述结论对含间隙的机电伺服系统进行了等效化简,并对其闭环稳定性进行分析,同时分析刚度、阻尼、转动惯量对系统稳定性的影响。Nyquist stability criterion is a common method to judge control system stability,which can judge the stability of closed-loop sys-tem according to the frequency characteristic curve of open-loop system.Different open-loop transfer functions can be obtained by different equivalent simplification methods for control systems with complex loops.It is proved that the same conclusion is ob-tained by applying Nyquist frequency stability criterion to different open-loop transfer functions of the same system.Therefore,in practical engineering,the open-loop transfer function can be obtained according to the principle of equivalent simplification flexi-bly.Based on the above conclusion,the servo system with clearance is simplified equivalently.And the closed-loop stability is an-alyzed.At the same time,the effects of stiffness,damping and moment of inertia on the stability of the system are analyzed.

关 键 词：稳定判据 复杂回路 伺服系统 控制系统 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]