基于扰动观测器的挠性传动系统H∞解耦设计  

H∞Decoupled Design of Flexible Systems Based on Disturbance Observer

作　　者：刘智康 孟范伟 庞爱平 刘云静 LIU Zhikang;MENG Fanwei;PANG Aiping;LIU Yunjing(School of Control Engineering,Northeastern University at Qinhuangdao,Qinhuangdao 066099,China;College of Electrical Engineering,Guizhou University,Guiyang 550025,China)

机构地区：[1]东北大学秦皇岛分校控制工程学院,秦皇岛066099 [2]贵州大学电气工程学院,贵阳550025

出　　处：《组合机床与自动化加工技术》2023年第12期71-75,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金资助项目(12162007)。

摘　　要：为具有死区特性的挠性传动系统提出了一种基于扰动观测器的复合控制策略,该方法将系统的跟踪性能、带宽要求、鲁棒性能构成含有多维性能输出的H∞优化矩阵,并选取适当的性能加权函数进而通过一种新的H∞解耦方法来确定控制器参数。仿真结果表明,系统转矩传递性能较好,设计的控制器可使系统具有良好的鲁棒性和较高的稳定裕度,有效解决了弱阻尼挠性模态以及齿隙非线性因素引起的振动加剧问题,且有效的解决系统的振动问题。A composite control strategy based on disturbance observer is proposed for flexible drive system with dead band characteristics,which forms the tracking performance,bandwidth requirements and robust performance of the system into an H∞optimization matrix with multi-dimensional performance output,and selects the appropriate performance weighting function to determine the controller parameters through a new H∞decoupling method.The simulation results show that the torque transmission performance of the system is good,and the designed controller can make the system have good robustness and high stability margin,which effectively solves the problem of vibration aggravation caused by weak damping flexible mode and backlash nonlinear factors,and effectively solves the vibration problem of the system.

关 键 词：挠性系统 H∞解耦设计 PID-P控制 扰动观测器 

分 类 号：TH166[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]