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本文首先叙述了一般伺服系统出现低速爬行运动的机理和在应用中改善低速响应的重要性。文中提出了一种新的系统设计方法,即根据最优控制系统理论,引入一个反映变摩擦干扰的状态变量,给出新的包含有指令发生器方程的状态方程,在伺服系统中构成一个新的状态反馈,用以改善伺服系统的动态品质,降低系统对参数变化的灵敏度,克服系统的低速爬行运动。
This paper first describes the general servo system appears low-speed crawling motion mechanism and application in improving the importance of low-speed response. In this paper, a new system design method is proposed. According to the optimal control system theory, a state variable reflecting the frictional disturbances is introduced and a new equation of state including the command generator equations is given. A new equation is formed in the servo system Of the state feedback to improve the dynamic quality of the servo system to reduce system sensitivity to parameter changes to overcome the system of low-speed crawling.