基于重复控制的高精度转台齿槽力矩波动抑制方法

摘要

齿槽力矩波动是有槽无刷直流电机固有的特性,其对高精度测试转台的速率平稳性造成很大影响.针对齿槽力矩波动周期性的特点,基于内模原理,提出了一种改进型离散重复控制方法来抑制力矩波动,提高速率平稳性性能.仿真结果表明基于改进型离散重复控制的控制方法可有效抑制高精度转台控制系统的周期性齿槽力矩扰动.%Cogging torque fluctuation is an inherent characteristic of trough brushless DC motors, which has an influence on the rate smoothness of high-precision test turntables. According to the periodical characteristics of cogging torque fluctuation, a method of modified PTRC eliminating torque flucturtion based on the internal model principle was proposed to improve the performance of the rate smoothness. The simulation results showed the effectiveness of modified PRTC scheme for eliminating periodical cogging torque fluctuation of high-precision turntable.