| 转台控制器中滞——滑极限环的分析与补偿 |
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| 引用本文： | 何婧,许化龙,李家垒. 转台控制器中滞——滑极限环的分析与补偿[J]. 上海计量测试, 2006, 33(5): 19-21 |
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| 作者姓名： | 何婧 许化龙 李家垒 |
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| 作者单位： | 中国人民解放军第二炮兵工程学院;中国人民解放军第二炮兵工程学院;中国人民解放军第二炮兵工程学院 |
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| 摘 要： | 本文通过对由于库仑摩擦引起的滞一滑现象对转台控制器的影响，深入分析了滞滑极限环产生的原因以及对高精度转台控制器的影响，在考虑转台摩擦的情况下，针对在Karnopp摩擦模型补偿下的PID控制规律使用进行非线性反馈力矩补偿，仿真结果显示效果良好。
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| 关 键 词： | 转台 PID 滞滑极限环 摩擦模型 非线性补偿器 |
The analyses and compensation of the slip stick limit cycles for the turntable |
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| He Jing,Xu Hualong,Li Jialei. The analyses and compensation of the slip stick limit cycles for the turntable[J]. Shanghai Meassurement and Testing, 2006, 33(5): 19-21 |
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| Authors: | He Jing Xu Hualong Li Jialei |
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| Affiliation: | The Second Artillery Engineering Institute, Xian, 710025 |
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| Abstract: | Aiming to the influence of the coulomb friction, this article analyzes deeply the reason that causes the slip-stick friction phenomenon of the turntable and argues the impact that is arouses by this friction. With Karnopp friction model of the turntable and controlling of PID, the paper provides a method which uses the nonlinear torque to compensate the system torque. Finally, the result of simulation indicates this method is fit for the turntable. |
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| Keywords: | turntable PID slip-stick limit cycles friction model nonlinear compensational controller |
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