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在进行高精度伺服控制系统的设计时,闭环仿真环节必不可少。要进行伺服系统的闭环仿真,就必须考虑该共振模态的数学模型。本文首先介绍了伺服机械系统共振模态的数学模型,其可以看成由一个二阶微分环节和一个振荡环节相乘得到。其次,提出用一个二阶微分环节来仿真共振模态中的反共振部分,用一个振荡环节来仿真共振模态中的共振部分。最后,给出了一个共振模态的数值仿真实例。
In the design of high-precision servo control system, closed-loop simulation is essential. To carry out closed-loop simulation of servo system, we must consider the mathematical model of resonance mode. This paper first introduces the mathematical model of the resonance mode of servo mechanical system, which can be seen as a second-order differential and an oscillation link multiplied. Secondly, a second-order differential component is proposed to simulate the anti-resonance part in the resonance mode and an oscillation part to simulate the resonance part in the resonance mode. Finally, a numerical simulation example of resonance mode is given.