三明治结构挠性传动系统的自耦PID控制  

Auto-Coupling PID Control of Flexible Transmission System with Sandwich Structure

作　　者：曾鹏[1] 曾喆昭[1] ZENG Peng;ZENG Zhezhao(Changsha University of Science and Technology,Changsha 410076,China)

机构地区：[1]长沙理工大学,长沙410076

出　　处：《空间控制技术与应用》2023年第5期73-79,共7页Aerospace Control and Application

基　　金：湖南省教育厅重点资助项目(21A0183)。

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,提出一种基于自耦PID(auto-coupling proportional-integration-differential,ACPID)控制理论思想的控制方法.该方法首先将三明治系统已知或未知动态、非线性死区引起的不确定因素定义为一个总扰动,并将4阶非光滑非线性三明治系统等价映射为一个4阶线性扰动系统,然后建立了以总扰动为激励的受控误差系统,根据ACPID控制理论思想设计了基于速度因子的ACPID控制系统,最后分析了ACPID控制系统的鲁棒稳定性和抗扰动鲁棒性.仿真结果表明ACPID控制系统的有效性,不仅有良好的动态品质与稳态性能,而且有良好的抗扰动鲁棒性,在三明治传动系统控制领域具有良好的应用价值.Aiming at the problem of mechanical resonance caused by weak damping flexible mode of sandwich sys-tem and the influence of backlash nonlinear factors,an auto-coupling PID control method independent of the con-trolled object is used in this paper.This method treats all uncertain factors such as nonlinear dead zone in the sand-wich system as a total disturbance,establishes a controlled error system with the total disturbance as the excitation,and then designs an auto-coupled PID control system based on speed factor,and fully proves the robust stability and anti-disturbance robustness of the auto-coupled PID control system in theory.The simulation results show the effec-tiveness of the auto-coupling PID control effect.The control method not only has a good response speed,but also has good robustness.Meanwhile,the method has a good application prospect in the field of sandwich structure flex-ible transmission system control.

关 键 词：三明治系统 弱阻尼挠性模态 ACPID控制 自适应速度因子 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]