全闭环伺服驱动系统中间隙与摩擦非线性复合机理分析

2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE) Pub Date : 2021-07-30 DOI:10.1109/ICCSSE52761.2021.9545194

Jiande Peng, Can Wang, Weilong Zheng, Jian-fei Pan, Fangfang Liu, Jinling Yang

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引用次数: 0

摘要

全闭环伺服驱动系统广泛应用于工业和医疗领域，是实现高精度位置控制的理想控制方案。通过对间隙死区模型和LuGre摩擦模型的分析，建立了具有间隙和摩擦的复合双质量全闭环系统。通过描述函数法和仿真分析了复合系统的位置响应。最后得出结论:摩擦力可以通过侧隙消除极限环的特征，而侧隙的幅值会影响峰处平坦的持续时间。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Compound Mechanism Analysis of Backlash and Friction Nonlinearity in Full-Closed-Loop Servo Drive System

Full closed loop servo drive system is widely used in industry and medical field, and it is an ideal control scheme to achieve high precision position control. In this paper, by analyzing the dead-zone model of backlash and LuGre friction model, a compound two-mass full-closed-loop system with backlash and friction is established. The position response of the compound system is analyzed by description function method and simulation. Finally, it is concluded that friction can eliminate the characteristic of the limit cycle by the backlash, and the amplitude of the backlash will affect the duration of the flat at the crest.

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2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)

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