| 高精度伺服系统低速问题研究 |
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| 引用本文： | 张锦江, 吴宏鑫, 李季苏, 邹广瑞. 高精度伺服系统低速问题研究. 自动化学报, 2002, 28(3): 431-434. |
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| 作者姓名： | 张锦江 吴宏鑫 李季苏 邹广瑞 |
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| 作者单位： | 1.北京控制工程研究所,北京 |
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| 摘 要： | 采用相平面法、代数分析法和李雅普诺夫稳定性定理得出了三阶系统克服低速滞滑爬行的判定定理.通过该判定定理得到系统参数与低速滞滑爬行的关系,在满足常规稳定控制器参数选择范围的基础上,给出了为消除低速滞滑爬行,PID控制器参数还应满足的条件.该判定定理简单实用,对于高精度伺服系统的调试具有很好的指导意义.
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| 关 键 词： | 低速滞滑 稳定性判据 摩擦 |
| 收稿时间： | 2000-02-28 |
| 修稿时间： | 2000-02-28 |
ON LOW-SPEED PROBLEM OF HIGH PRECISION SERVO SYSTEM |
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| ZHANG Jin-Jiang, WU Hong-Xin, LI Ji-Su, ZOU Guang-Rui. On Low-Speed Problem of High Precision Servo System. ACTA AUTOMATICA SINICA, 2002, 28(3): 431-434. |
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| Authors: | ZHANG Jin-Jiang WU Hong-Xin LI Ji-Su ZOU Guang-Rui |
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| Affiliation: | 1. Beijing Institute of Control Engineering,Beijing |
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| Abstract: | The criteria of overcoming low-speed slip-stick phenomenon of third-order system is given by using phase plane method, algebra analyzing method and Lyapunov stability theorem. The relationship between system parameter and low-speed slip-stick phenomenon is found, and the condition of choosing the parameter of PID is given, which should satisfy the purpose of overcoming low-speed stick-slip and guaranteeing the stability. This method is simple and easy to implement. It has directive significance to high precision servo system. |
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| Keywords: | Low-speed slip-stick stability criterion friction |
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