含有柔性负载的电驱动系统建模与控制策略  

Modeling and Control Strategy of Electric Drive System with Flexible Load

作　　者：李小彭[1] 王浩哲 尹猛 周赛男 LI Xiao-peng;WANG Hao-zhe;YIN Meng;ZHOU Sai-nan(School of Mechanical Engineering&Automation,Northeastern University,Shenyang 110819,China;Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen 518055,China)

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819 [2]中国科学院深圳先进技术研究院,广东深圳518055

出　　处：《东北大学学报（自然科学版）》2024年第3期346-353,371,共9页Journal of Northeastern University(Natural Science)

基　　金：国家自然科学基金资助项目(52275090).

摘　　要：为了抑制伺服电机启动和运行过程中产生的转速波动和振动,提出了一种基于极点配置的PI控制策略.首先,根据基尔霍夫电压定律和拉格朗日原理建立了伺服电机与柔性负载的整体动力学模型,并通过拉普拉斯变换计算系统的传递函数.其次,通过设计控制器的参数,分析了采用相同幅值的极点配置方法对控制效果的影响.最后,通过与传统的Z-N方法和无控制方法进行对比,验证了该极点配置方法的优势.通过数值仿真和实验研究,实现了对伺服电机启动和运行过程中产生的角度误差的控制,有效抑制了电机转速的波动,保证了系统的稳定性.In order to suppress the speed fluctuations and vibrations generated during the startup and operation of servo motors,a PI control strategy based on pole configuration was proposed.Firstly,an overall dynamic model of servo motors and flexible load was established based on Kirchhoff’s voltage law and Lagrangian principle,and the transfer function of the system was calculated through Laplace transform.Secondly,by designing the parameters of the controller,the impact of using pole configuration methods with the same amplitude on the control effect was analyzed.Finally,the advantages of this pole configuration method were verified by comparing the traditional Z‐N methods and uncontrolled methods.Through numerical simulation and experimental research,the control of angle errors generated during the startup and operation of servo motors is achieved,effectively suppressing the fluctuations of motor speed and ensuring the stability of the system.

关 键 词：伺服电机 柔性负载 极点配置 PI控制器 速度环 

分 类 号：TH113.1[机械工程—机械设计及理论] TP13[自动化与计算机技术—控制理论与控制工程]