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针对一类含间隙大惯量非直驱转动系统中出现的速率波动现象,利用描述函数法和计算仿真的方法进行了原因分析。在通常的解决措施如双电机消隙、机械消隙方法之外,针对一类间隙可测量的运动控制系统,提出了解决该类问题的新思路,即通过间隙的间接测量,利用反馈机制进行间隙补偿,并用小增益定理证明了其稳定性。实现了部分电气消隙的作用,在适当降低跟踪精度的情况下,消除了定位抖动,提高了速率平稳性。
Aiming at the phenomenon of rate fluctuation in a type of non-direct-drive rotating system with large gap inertia, the reason analysis is made by means of descriptive function method and computational simulation. In addition to the common solutions such as dual-motor backlash elimination and mechanical backlash elimination, a new idea for solving this kind of problem is proposed for a type of gap-measurable motion control system. The feedback mechanism is used to measure the gap indirectly Gap compensation, and its stability is proved by the small gain theorem. The effect of some electrical anti-backlash is realized, positioning jitter is eliminated and the rate stability is improved under the condition of proper tracking accuracy reduction.