| 并联机构实轴伺服电机的振动抑制 |
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| 引用本文： | 牛志刚,张建民.并联机构实轴伺服电机的振动抑制[J].中国机械工程,2005,16(23):2076-2079. |
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| 作者姓名： | 牛志刚 张建民 |
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| 作者单位： | 1. 北京理工大学,北京,100081;太原理工大学,太原,030024
2. 北京理工大学,北京,100081 |
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| 基金项目： | 广东省博士启动基金，北京市重点学科建设项目 |
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| 摘 要： | 分析了Turbo PMAC运动控制器的超前观测功能,将其应用于并联机构实轴电机的振动抑制.在PRS-XY混联加工平台上进行的实验证明,在使用Turbo PMAC运动学功能进行并联机构控制时,利用其超前观测功能,能有效地抑制电机振动.研究证明,Turbo PMAC的超前观测功能实质上是一种变插补周期的控制方式,不依赖于具体机构的运动学模型.
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| 关 键 词： | 并联机构 电机振动抑制 超前观测 |
| 文章编号： | 1004-132X（2005）23-2076-04 |
| 收稿时间： | 2005-01-11 |
| 修稿时间： | 2005-01-11 |
Vibration Restraint for Real-axes Servo Motor of Parallel Kinematics Mechanism |
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| Niu Zhigang,Zhang Jianmin.Vibration Restraint for Real-axes Servo Motor of Parallel Kinematics Mechanism[J].China Mechanical Engineering,2005,16(23):2076-2079. |
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| Authors: | Niu Zhigang Zhang Jianmin |
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| Affiliation: | 1. Beijing Institute of Technology, Beiiing,100081 ;2. Taiyuan University of Technology, Taiyuan, 030024 |
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| Abstract: | The look-ahead function of Turbo PMAC(multi-axes motion controller) was analyzed and applied to restrain the motor vibration of real-axes of parallel kinematics mechanism.Through the experiments on PRS-XY hybrid machine platform,it is proved that motor vibration can be restrained effectively by look-ahead function when using the kinematics function of Turbo PMAC for controlling parallel mechanism.The research proves also that the look-ahead function is a kind of control mode implying variable interpolation periods,which are independent of modeling of the actual mechanisms. |
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| Keywords: | Turbo PMAC |
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