采用不同补偿反馈的双质量驱动动力学优化

2008 11th International Conference on Optimization of Electrical and Electronic Equipment Pub Date : 2008-05-22 DOI:10.1109/OPTIM.2008.4602452

K. Szabat, T. Orłowska-Kowalska

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引用次数: 7

摘要

本文介绍了弹性关节驱动系统中振动抑制的相关问题。考虑了具有轴转矩和转速差两个附加反馈的串级控制结构，该结构允许系统闭环极点的自由位置。给出了系统极点对驱动性能的影响。然后，介绍并验证了具有负载转矩及其导数附加反馈的控制结构，该结构可以抑制负载转矩变化引起的负载速度下降。为了提供不可测量状态变量的信息，采用了扩展卡尔曼滤波。通过仿真和实验研究验证了该结构的有效性。

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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Optimization of the two-mass drive dynamics using different compensation feedbacks

In this paper issues related to the vibration suppression in the drive system with an elastic joint are presented. The cascade control structure with two additional feedbacks from the shaft torque and the difference between speeds which allows the free location of the system closed- loop poles is considered. The influence of the system poles to the drive performance is shown. Then the control structure with additional feedbacks from the load torque and its derivatives, which allow rejection from the load speed the fall caused by the load torque change, is introduced and examined. To provide the information of non-measurable state variables the Extended Kalman Filter is used. The effectiveness of the proposed structure has been examined under simulation and experimental study.

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2008 11th International Conference on Optimization of Electrical and Electronic Equipment

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