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柔性负载广泛存在于各类高性能驱动控制系统中。为了抑制由于负载柔性引起的谐振以及补偿负载转矩扰动对系统的影响,提出了一种基于状态反馈与转矩前馈控制器的柔性负载控制策略。未知状态和负载转矩采用卡尔曼滤波器进行估计。然后利用估计得到的谐振相关状态对系统谐振进行补偿,利用估计得到的负载转矩对负载转矩影响进行补偿。相对于传统状态反馈策略,所提出的柔性负载模型和控制器将柔性阻尼考虑在内,并且所提出的负载转矩前馈控制器可以补偿任意变化的负载转矩。在此基础上,利用极点配置策略对控制系统参数进行确定。仿真和实验验证了文中所提出方法的有效性。
Flexible loads are found in a wide range of high-performance drive control systems. In order to restrain the resonance caused by the load flexibility and compensate the influence of load torque disturbance on the system, a flexible load control strategy based on state feedback and torque feedforward controller is proposed. Unknown state and load torque are estimated using Kalman filter. The system resonance is then compensated for using the estimated resonance-related state, and the estimated load torque is used to compensate for the load torque. Compared with the traditional state feedback strategy, the proposed flexible load model and controller take flexible damping into account, and the proposed load torque feedforward controller can compensate for any varying load torque. On this basis, the pole configuration strategy is used to determine the control system parameters. Simulation and experiment verify the effectiveness of the proposed method.