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本文分析了三轴运动模拟转台的干摩擦特性,并提出利用PID型自学习控制解决由于摩擦非线性引起的正弦振动失真。仿真结果表明,利用此法可使相应的正弦振动精度高达10~(-3)数量级,可满足三轴运动模拟转台伺服系统设计中的有关精度要求。
In this paper, the dry friction characteristics of a three-axis motion turret are analyzed, and PID-type self-learning control is proposed to solve the sinusoidal vibration distortion caused by the friction nonlinearity. The simulation results show that this method can make the corresponding sinusoidal vibration precision as high as 10 ~ (-3), which can meet the precision requirements in the design of servo system of three-axis motion simulation turntable.