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针对一类含输出齿隙非线性的伺服控制系统 ,提出了 2种克服齿隙影响系统跟踪精度的方法。对大型雷达天线伺服系统 ,采用了电消齿隙、差速负反馈的多电机联动新方法 ,并已应用于某天线伺服系统 ,获得了很高的跟踪精度。针对单电机驱动的含齿隙伺服系统 ,提出了一种智能比例、积分和微分 (PID)控制器及基于规则的补偿控制策略。实际系统调试结果表明 ,该方法有效地提高了系统的定位和跟踪精度。
Aiming at a class of servo control system with output backlash nonlinearity, two methods of overcoming the influence of backlash on the tracking accuracy of the system are proposed. For the large radar antenna servo system, a new multi-motor linkage method with backlash and differential negative feedback is adopted and has been applied to an antenna servo system with high tracking accuracy. Aimed at the single-motor driven backlash servo system, an intelligent proportional, integral and derivative (PID) controller and a rule-based compensation control strategy are proposed. The actual system commissioning results show that the method effectively improves the positioning and tracking accuracy of the system.