摘要
为测试某型航天用电动伺服机构的实际工作性能,设计一种以大导程精密滚珠丝杠副为力矩/力转换元件的电动直线加载系统。为克服电动直线加载系统多余力扰动问题,提出一种引入角速度前馈补偿、串入电流内环和位置内环的多闭环复合控制策略;采用一种以分数阶PIλDμ控制器作为力外环的反馈控制、分数阶迭代学习控制(FO-ILC)作为补偿控制的方法。直线加载仿真实验和多余力抑制仿真实验表明,所提控制策略较好地抑制了直线加载多余力。
To test the practical performance of a certain type of electric servo mechanism in space application,an electric linear loading system was designed with high lead precision ball screw pair for torque/force conversion element.To overcome the disturbance of surplus torque in the electric linear loading system,a multi closed-loop compound control strategy with the angular velocity feed-forward compensation,current inner closed-loop and position inner closed-loop was proposed.A control method with fractional order PIλDμcontroller as the feedback control of force outer loop,fractional order iterative learning control as compensation control was proposed.Experiments on the loading force with sinusoidal and trapezoidal wave force and testing of the surplus torque suppression were performed.The simulation results prove that the controllers are effective in achieving a better force tracking and restraining the surplus torque for the electric linear loading system.
作者
徐志伟
陶键
范元勋
王厚浩
张纪林
XU Zhiwei;TAO Jian;FAN Yuanxun;WANG Houhao;ZHANG Jilin(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing Jiangsu 210094, China;Shanghai Aerospace Control Technology Institute,Shanghai 201109,China)
出处
《机床与液压》
北大核心
2018年第20期139-143,共5页
Machine Tool & Hydraulics
关键词
电动直线加载系统
分数阶PI^λD^μ控制
分数阶迭代学习
多余力矩抑制
多闭环复合控制
Electric linear loading system
Fractional order PI^λD^μcontrol
Fractional order iterative learning
Surplus torque suppression
Multi closed-loop compound control
作者简介
徐志伟(1992—),男,硕士,主要研究方向为伺服加载测控系统。E-mail:115101000006@njust.edu.cn;通信作者:范元勋,E-mail:fanyx@mail.njust.edu.cn。
