| 多轴同步控制系统的转矩扰动研究 |
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| 引用本文： | 徐杰,刘旭峰.多轴同步控制系统的转矩扰动研究[J].电子测量与仪器学报,2016,30(12):1967-1973. |
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| 作者姓名： | 徐杰 刘旭峰 |
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| 作者单位： | 1. 中国科学院 等离子体物理研究所 合肥 230031;中国科学技术大学 研究生院科学岛分院 合肥 230031;2. 中国科学院 等离子体物理研究所 合肥 230031 |
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| 摘 要： | 针对多轴同步控制系统中的转矩扰动问题,对多轴的反馈力矩,转矩干扰、主令参考同步控制系统性能进行了研究。首先分析了不考虑主动轴内的衰减系数下的多轴间反馈力矩模型,多轴的反馈转矩与各轴的输出角位移有关,与各轴的反馈力矩和主轴力矩有关,在恒定输入的情况下,多轴转矩反馈的随着层轴数增加而减小,轴的转矩反馈趋向于0;然后建立了N2多轴主令参考同步控制模型,通过选取参数相同的情况下对多轴同步系统的跟随性分析,对运行轴产生干扰下多轴同步系统的同步性能进行了理论分析。研究结果表明,该模型在N2多轴系统中的主令参考同步控制系统跟随性相同,当扰动出现在任意一个轴侧,其他轴与扰动轴之间的同步性相同。
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| 关 键 词： | 同步控制 主令参考同步控制 多轴同步 运动控制 |
Research on torque disturbance for multi axis synchronous control system |
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| Xu Jie and Liu Xufeng.Research on torque disturbance for multi axis synchronous control system[J].Journal of Electronic Measurement and Instrument,2016,30(12):1967-1973. |
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| Authors: | Xu Jie and Liu Xufeng |
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| Affiliation: | 1. Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031, China;2. Science Island Branch of Graduate School, University of Science and Technology of China, Hefei 230031, China and Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031, China |
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| Abstract: | Aiming at the problem of torque disturbances in multi-axis synchronous control system, multi-axis feedback torque, torque disturbance, master reference sync control system performance are researched.First, multi-axis feedback torque model is proposed without considering the master axis attenuation coefficient.The multi-axis feedback torque is related to angular displacement of each axis, the torque feedback of axes, and master axis torque, multi-axis torque feedback decreases as the increasing number of layers in a constant input, the torque of axis feedback tends to 0.Then, in view of existing synchronization control problem of motor systems, this paper presents a stability analysis method of N>2 multi-axis master reference sync control thought.Moreover, the following performance is analyzed by the same parameters, and the synchronization performance is theoretically analyzed in different axis interference.The results indicate that the following performance of multi-axis master reference control is the same in N>2 multi-axis models, the disturbance occurs in any axis side, the synchronization performance is the same between disturbances axis and the other axes. |
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| Keywords: | synchronized control master reference control multi-axis synchronous control motion control |
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