机械传动空回对伺服性能的影响分析

陶忠, 鲁亚飞, 贠平平, 庞澜, 杨远成

陶忠, 鲁亚飞, 贠平平, 庞澜, 杨远成. 机械传动空回对伺服性能的影响分析[J]. 应用光学, 2015, 36(2): 171-176. DOI: 10.5768/JAO201536.0201002
引用本文: 陶忠, 鲁亚飞, 贠平平, 庞澜, 杨远成. 机械传动空回对伺服性能的影响分析[J]. 应用光学, 2015, 36(2): 171-176. DOI: 10.5768/JAO201536.0201002
shu
Tao Zhong, Lu Ya-fei, Yun Ping-ping, Pang Lan, Yang Yuan-cheng. Influence of transmission gap on servo performance[J]. Journal of Applied Optics, 2015, 36(2): 171-176. DOI: 10.5768/JAO201536.0201002
Citation: Tao Zhong, Lu Ya-fei, Yun Ping-ping, Pang Lan, Yang Yuan-cheng. Influence of transmission gap on servo performance[J]. Journal of Applied Optics, 2015, 36(2): 171-176. DOI: 10.5768/JAO201536.0201002
shu

机械传动空回对伺服性能的影响分析

  • 1.

    西安应用光学研究所,陕西 西安 710065;

  • 2.

    国防科技大学 机电工程与自动化学院,湖南 长沙 410073

详细信息
    通讯作者:

    陶忠（1969-），男，陕西西安人，研究员，主要从事机载光电系统总体技术研究工作。 Email:stephones1987@sohu.com

  • 中图分类号: TN820.3

Influence of transmission gap on servo performance

  • 1.

    Xi-an Institute of Applied Optics,Xi-an 710065,China;

  • 2.

    College of Mechatronic Engineering and Automation,National University of Defense Technology,Changsha 410073,China

摘要

    摘要
  • 摘要: 机械传动空回主要由传动系统间隙、传动链弹性变形以及机械构件受载变形等因素产生，对伺服系统的控制精度和稳定性等具有较大影响。分析了机械传动空回的数学模型，建立了考虑传动空回的伺服系统框图，并通过典型仿真实例，深入分析机械传动空回建模及其对伺服性能的影响。分析结果表明, 传动空回对伺服性能的影响主要体现在2个方面：一是引起相位滞后，影响系统的稳定性;二是引起极限环振荡，产生自振静态误差。
    Abstract: The mechanical transmission backlash mainly generated by the transmission system gap, the elastic deformation of the transmission chain, the loadeddeformation of mechanical components and other factors, has a great influence on the control precision and stability of servo system. We analyzed the mathematical model of the mechanical transmission backlash, set up a block diagram of servo system considering the transmission backlash. Furthermore, we analyzed the modeling of mechanical transmission backlash and its influence on the servo performance in depth through a typical simulation example. The results of the analysis show that the influence of transmission backlash on servo performance mainly reflects in two aspects: first, it can cause the phase lag and affect the stability of the system; second, it can cause the limit cycle oscillating which produces self-vibration static error.
    • HTML全文
    • 参考文献(1)
  • [1]Zhang Lisong, Hu Youde, Xu Lixin. Principle and design of the servo system[M]. Beijing: Beijing Institute of Technology press, 2008.
    张莉松,胡祐德,徐立新.伺服系统原理与设计[M].北京:北京理工大学出版社,2008.
    [2]Zhang Jianwei, Zhang Lijun. Mechanical transmission components affecting the performance factor of servo mechanism[J]. Mechanical Design and Manufacture, 2001 (1): 76
    张建伟, 张莉军. 机械传动部件影响伺服机构性能的因素[J].机械设计与制造, 2001(1):76.
    [3]Baek J H, Kwak Y K, Kim S H. On the frequency bandwidth change of a servo system with a gear reducer due to backlash and motor input voltage[J]. Archive of Applied Mechanics, 2003, 73(5): 367-376.
    [4]Gutierrez H L. Performance assessment and enhancement of precision controlled structures during conceptual design[D]. USA:Massachusetts Institute of Technology, 1993.
    [5]Townsend W T. The effect of transmission design on force-controlled manipulator performance[R]. USA: Dept. of Mechanical Engineering, Massachusetts Institute of Technology, 1988.
    [6]Ma Yanling. Control and compensation of servo systems with backlash[D]. Xi-an:Xidian University,2008.
    马艳玲. 含齿隙环节伺服系统的补偿控制[D].西安:西安电子科技大学, 2008.
    [7]Wu Yujing, Ji Ming. Compensation technology for high velocity tracking of electro-optical pod[J].Journal of Applied Optics, 2006, 27(4):293-297.
    吴玉敬,纪明.光电吊舱大速率平稳跟踪补偿技术研究[J].应用光学,2006, 27(4): 293-297.
    [8]Yang Qian, Shi Zhongxiu, Cheng Qiang. Research on dynamic simulation of linkage mechanisms with clearances based on Simulink[J]. Journal of Qingdao University：E & T, 2005, 20(3):16-21.
    杨倩, 师忠秀, 程强. 基于Simulink的含间隙机构动力学仿真研究[J].青岛大学学报：工程技术版, 2005, 20(3):16-21.
    [9]Zhao Jianzhou, He Chao, Zhang Yuhe. An experimental study of compensation algorithms for backlash nonlinearity of servo systems[J]. Journal of Beijing Institute of Technology, 2000, 20(3):317-321.
    赵建周, 何超, 张宇河.伺服系统间隙非线性补偿算法的研究[J].北京理工大学学报, 2000, 20(3):317-321.
    [10]Liu Weiming. Influence of backlash on the natural frequency of the antenna system structure[J]. Radio Engineering, 1998, 28 (4): 5-9.
    刘维明.间隙对天线结构系统固有频率的影响[J].无线电工程,1998, 28(4):5-9.
    [11]Cao Haizhou. PID control based on neural network of backlash nonlinear study[D]. Xi-an:Xidian University, 2009.
    曹海舟.基于神经网络PID控制的齿隙非线性研究[D].西安:西安电子科技大学, 2009.
    • 相关文章
    • 施引文献(2)

  • 期刊类型引用(1)

    1. 王江涛，王艳红，武京治. 基于散射元件的无透镜偏振成像系统设计. 激光与光电子学进展. 2020(06): 265-270 . 百度学术

    其他类型引用(1)

    • 资源附件(0)
计量
  • 文章访问数:  1617
  • HTML全文浏览量:  110
  • PDF下载量:  142
  • 被引次数: 2
出版历程

目录

摘要
HTML全文
    参考文献(1)
    相关文章
    施引文献
    资源附件(0)

    /

    返回文章
    返回

    相关数据库

    广告合作

    友情链接

    帮助中心

    扫描关注本刊微信平台

    您是第  2901192位访问者，欢迎！

    地址: 西安市电子三路西段9号 邮政编码: 710065 联系电话: 029-88288172

    版权所有 © 《应用光学》编辑部

    陕公网安备 61011302001501号       陕ICP备19002862号-1

    北京仁和汇智信息技术有限公司 开发  技术支持: info@rhhz.net   百度统计