| 机电集成超环面传动二自由度控制器的设计 |
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| 引用本文： | 刘欣,许立忠. 机电集成超环面传动二自由度控制器的设计[J]. 机械科学与技术, 2008, 27(2): 253-256 |
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| 作者姓名： | 刘欣 许立忠 |
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| 作者单位： | 燕山大学机械工程学院,秦皇岛066004 |
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| 摘 要： | 针对提出的新型机电集成超环面传动,建立了机电耦合动力学模型,推导了速度传递函数。设计了两组独立参数的二自由度(TDF)控制器,得到理想的响应特性,消除了系统稳态误差。分析了该传动特有的输出扰动规律,为消除扰动对控制系统的不利影响,求得了补偿电压。研究结果证明了控制器和补偿电压的有效性,对该种新型传动的实际应用具有指导意义。
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| 关 键 词： | 机电集成超环面传动 动力学模型 输出扰动 二自由度控制器 补偿电压 |
| 文章编号： | 1003-8728(2008)02-0253-04 |
| 修稿时间： | 2006-12-19 |
Designing a Two-DOF Controller with Electromechanical Integrating Toroidal Drive |
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| Liu Xin,Xu Lizhong. Designing a Two-DOF Controller with Electromechanical Integrating Toroidal Drive[J]. Mechanical Science and Technology for Aerospace Engineering, 2008, 27(2): 253-256 |
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| Authors: | Liu Xin Xu Lizhong |
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| Abstract: | We establish the electromechanical-coupled dynamic model of a novel electromechanical integrating toroidal drive and derive its speed transfer function.We design a two-DOF(degree of freedom) controller that has two sets of independent parameters,obtain desired response characteristics and eliminate the steady-state errors of the toroidal drive.We also analyze the law of output disturbance peculiar to the toroidal drive and obtain its compensation output so as to eradicate the disadvantageous influence on the two-DOF controller.The analysis results prove the effectiveness of the controller and compensation voltage. |
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| Keywords: | electromechanical integrating toroidal drive dynamic model output disturbance two-DOF controller compensation voltage |
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