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| 直接驱动系统中力矩扰动的抑制 | |
| 引用本文： | 李锦英,付承毓,于伟.直接驱动系统中力矩扰动的抑制[J].哈尔滨理工大学学报,2011,16(4):78-81. |
| 作者姓名： | 李锦英 付承毓 于伟 |
| 作者单位： | 1. 中国科学院光电技术研究所,四川成都610209;中国科学院光束控制重点实验室,四川成都610209;中国科学院研究生院,北京100049 2. 中国科学院光电技术研究所,四川成都610209;中国科学院光束控制重点实验室,四川成都610209 3. 中国科学院光电技术研究所,四川成都610209;中国科学院光束控制重点实验室,四川成都610209;中国科学院研究生院,北京100049;徐州空军学院,徐州221000 |
| 摘 要： | 针对直接驱动系统中转速容易受各种力矩扰动的影响,建立了电流、速度双闲环仿真系统,设计了速度环的自抗扰控制器.并加入了LuGre摩擦力矩、负载扰动力矩和电机波动力矩,仿真结果显示,自抗扰控制器比传统的PI算法有更好的扰动抑制能力.在有突加扰动力矩的情况下,转速恢复到设定值的时间仅为PI算法的5％；在速度过零点时,也能很好... |
| 关 键 词： | 自抗扰控制 扩张状态观测器 力矩扰动 LuGre摩擦模型 |
Rejection of torque disturbance in Direct Drive System |
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| LI Jin-ying,FU Cheng-yu,YU Wei.Rejection of torque disturbance in Direct Drive System[J].Journal of Harbin University of Science and Technology,2011,16(4):78-81. | |
| Authors: | LI Jin-ying FU Cheng-yu YU Wei |
| Affiliation: | LI Jin-ying1,2,3,FU Cheng-yu1,YU Wei1,4 (1.Institute of Optics and Electronics,Chinese Academy of Sciences,Chengdu 610209,China,2.Key Laboratory of Beam Control,3.Graduate School of Chinese Academy of Sciences,Beijing 100049,4.Xuzhou Air Force College,Xuzhou 221000,China) |
| Abstract: | In order to solve the influence of various torque disturbances in direct drive systems,a simulation including speed and current closed-loops was built,and an active disturbance rejection controller(ADRC) in speed loop was designed.LuGre friction model,load torque disturbance and fluctuation were combined.Simulations show that ADRC has better disturbance rejection than traditional PI algorithms.In the case of an accidental disturbance,the recovery time of ADRC is only 5% of PI.The friction torque was mostly ... |
| Keywords: | active disturbance rejection controller extended state observer torque disturbance LuGre model |
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