直线伺服系统位移跟踪误差的分析与迭代补偿  

Quantitative Analysis and Iterative Compensation of the Motor Tracking Error in Linear Motion Systems

作　　者：付佳倩 李珊瑚 胡俊宇 Fu Jiaqian;Li Shanhu;Hu Junyu(State Key Laboratory of Reliability and Intelligence of Electrical Equipment,Hebei University of Technology,Tianjin 300401,China;College of Mechanical and Vehicle Engineering,Hunan University,Changsha 410082,China)

机构地区：[1]河北工业大学省部共建电工装备可靠性与智能化国家重点实验室,天津300401 [2]湖南大学机械与运载工程学院,长沙410082

出　　处：《动力学与控制学报》2024年第12期87-95,共9页Journal of Dynamics and Control

基　　金：河北省自然科学基金资助项目(E2024202079);中央引导地方科技发展资金项目(226Z1805G);2022年河北省专业学位教学案例库立项建设项目(KCJSZ2022017)。

摘　　要：为解决由非线性摩擦力引起的电机位移跟踪误差量化不清晰、补偿设计困难的问题,提出一种基于误差相关系数更新的迭代前馈整定策略.首先,采用“黏滞摩擦+库仑摩擦”非线性摩擦力模型,分析了直线伺服系统中电机位移跟踪误差产生机理,得到电机位移跟踪误差的具体表达式.其次,将非线性摩擦力引起的电机位移跟踪误差与参考位移引起的电机位移跟踪误差联系起来,建立了电机位移跟踪误差到速度、加速度、库仑摩擦的映射关系以及误差相关系数,通过更新判断误差相关系数的大小,进行迭代前馈整定,有效补偿电机位移跟踪误差.最后,在仿真和实验中,不同前馈参数下的误差相关系数大小证明了电机位移跟踪误差分析的正确性,电机跟踪误差的明显降低证明了基于误差相关系数进行迭代前馈整定的有效性.In order to solve the problem of unclear quantification of motor displacement tracking error caused by nonlinear friction and the difficulty of compensation design,an iterative feedforward tuning strategy based on updating the error correlation coefficient is proposed.Firstly,the nonlinear friction model of“viscous friction+Coulomb friction”is used to analyse the mechanism of motor displacement tracking error in linear servo system,and the specific expression of motor displacement tracking error is obtained.Secondly,the motor displacement tracking error caused by nonlinear friction is linked with the motor displacement tracking error caused by reference trajectory,and the mapping relationship between the motor displacement tracking error and velocity,acceleration,Coulomb friction and error correlation coefficients are established.By updating and judging the magnitude of the error correlation coefficients,iterative feedforward tuning is performed to effectively compensate the motor displacement tracking error.Finally,the size of the error correlation coefficients in simulation and experiment under different feedforward parameters proves the correctness of the motor displacement tracking error analysis,and the obvious reduction of the motor tracking error proves the effectiveness of iterative feedforward tuning based on the error correlation coefficients.

关 键 词：直线伺服系统 电机位移跟踪误差 非线性摩擦力 相关系数 迭代前馈整定 

分 类 号：TM359.4[电气工程—电机]