摘要
首先提出采用比例和位置前馈复合控制的位置闭环调节器。位置前馈工作在完全补偿状态时,实现了恒速运行时间段内和定位结束后的稳态位置跟踪零误差。但由于目前广泛使用的梯形给定存在加速度突变,增大了动态位置跟踪误差,所以提出采用S曲线位置给定,避免加速度突变,可以大大减小动态位置跟踪误差。最后分析了负载变动对位置跟踪误差的影响,并提出了消除这种影响的途径和方法。仿真分析和实验结果证明了理论分析的正确性。
A hybrid position regulator using proportion and position feedforward is presented. Stable position tracking zero error is realized in constant-speed-running and after positioning states to complete feedforward compensation. Then, the position trapezoid command increases dynamic position tracking error because of its sudden change of the acceleration. So S curve command is introduced without the sudden change of the acceleration and the dynamic position tracking error is decreased. Finally, the effect from the load disturbance on position tracking error is analyzed and the method for eliminating the effect is proposed. The simulation analysis and experimental results prove the correctness of the theoretical analysis.
出处
《南京航空航天大学学报》
EI
CAS
CSCD
北大核心
2008年第6期815-819,共5页
Journal of Nanjing University of Aeronautics & Astronautics
关键词
位置控制
前馈拉制
跟踪误差
5曲线给定
position control
feed-forward control
tracking error
S curve command
