摘要
基于全数字化电动舵机的特点,提出了一种频率特性自动测试新方法,在此基础上对电动舵机系统的模型进行辨识,并对系统进行串联校正。使用数字控制器进行全过程自动测试并将数据上传计算机;然后,通过Levy法将测得的频率特性数据辨识为较高精度的传递函数,对辨识得到的数学模型仿真结果与频率特性测试数据进行比较。比较结果显示,在中低频段的幅值最大绝对误差<0.8 dB,相位最大绝对误差<1.1°。在此基础上选用滞后超前校正器对系统进行校正,校正后系统带宽达到138 rad/s,与对模型进行数值仿真得到的结果124 rad/s相比误差较小。实验结果表明:频率特性测试法比传统测试方法自动化水平高,传递函数辨识结果能较好地描述该系统特性,选择的校正方法使本伺服系统满足了预期的性能指标,为研制性能优良的电动舵机伺服系统提供了理论依据。
A new automatically test method for frequency characteristic was proposed based on the digitization characteristics of a electromechanical actuator, the system model of electromechanical actuator was identified, and a series-wound eorrector was designed to correct the system. A digital processing controller was used to automatically test the entire process and tested data were uploaded to a PC. Then, these tested frequency characteristic data were identified to the high precision transfer function by using the Levy method. By combination of the simulated results with the tested data, it is shown that the maximal absolute error of magnitude between identified data and tested data is less than 0.8 dB and the maximal absolute error of phase is less than 1.1° in the low and intermediate frequency. On the basis of transfer function, a lag-lead corrector was designed for the system, corrected results show that the bandwidth of the corrected system is 138 rad/s, which is closed to the numerical simulation results of 124 rad/s based on the system mathematical model. The corresponding experiments were carried out, and the results show that the frequency characteristic test method has increased the level of automation as compared with traditional testing methods the identified transfer function can better describe the characteristics of proposed system and the selected lag-lead corrector can meet the expected indicators of the system. The research provides theoretical basis and engineering practice reference for the development of servo system of high-performance electromechanical actuator.
出处
《光学精密工程》
EI
CAS
CSCD
北大核心
2008年第10期1971-1976,共6页
Optics and Precision Engineering
基金
吉林省杰出青年基金资助项目(No.20060115)
中国科学院“三期创新”平台资助项目
关键词
电动舵机
频率特性
系统辨识
Levy法
滞后超前校正
electromechanical actuator
frequency characteristic
Levy identification
lag-lead correction
作者简介
章家保（1981-），男，安徽安庆人，博士研究生，主要研究方向为电动舵机伺服系统设计与控制技术。E—mail：changjacob@163．com
