内模原理在转台波动力矩抑制中的应用

为了消除系统存在的周期性扰动特别是干扰力矩对系统速率平稳性能的影响,本文对基于内模原理的自适应周期性扰动抑制方法进行了研究,利用该控制策略能够较好的抑制含单一频率、多种频率和时变频率的周期性扰动.并且对扰动频率变化较快时频率估计中出现的波动现象进行了分析.该方法在测试转台模型上进行了仿真,仿真结果显示出了良好的扰动频率辨识能力和对扰动的抑制能力.

Application of Torque Ripple Rejection Based on Internal Model Principle in Test Turn table

The position and rate precision of inertial test turn table is affected by the torque ripple to a great extent, which makes it of great importance to reject the torque ripple. In order to canceling the influence of periodic disturbances to the rate smoothness of the system, an adapting algorithm of periodic disturbances cancellation which is based on internal model principle is studied. This method can cancel completely single-sinusoidal signal and multi-sinusoidal signal, and even time-varying sinusoidal signal. Furthermore the ripple phenomenon of the estimating frequency is studied when the estimated frequency of disturbances changes rapidly. Simulations demonstrate the performance of the algorithm, the ability of this algorithm to identify the frequency of periodic disturbances and to reject periodic disturbances with uncertain frequency