含间隙运动控制系统中的定位抖动和速率波动原因分析及解决措施

摘要

Analysis of the speed fluctuation in an indirect drive rotating motion system with backlash and big moment of inertia is carried out using the method of describing function and digital simulation,then a new method is provided for a class of motion system in which backlash can be measured,this method is different from the normal methods such as mechanical double gear backlash elimination,double motor backlash elimination et al.The new method is based on feedback mechanism by indirect measuring the value of the backlash and the stability is proved by the small gain theorem.We realized the partly elimination of the backlash,rejecting the position jitter and improving the velocity smoothness under slightly reduced tracking accuracy.%针对一类含间隙大惯量非直驱转动系统中出现的速率波动现象,利用描述函数法和计算仿真的方法进行了原因分析.在通常的解决措施如双电机消隙、机械消隙方法之外,针对一类间隙可测量的运动控制系统,提出了解决该类问题的新思路,即通过间隙的间接测量,利用反馈机制进行间隙补偿,并用小增益定理证明了其稳定性.实现了部分电气消隙的作用,在适当降低跟踪精度的情况下,消除了定位抖动,提高了速率平稳性.