| 直线电动机粘滑闭环控制实验研究 |
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| 引用本文： | 陶大锦,袁柳斌.直线电动机粘滑闭环控制实验研究[J].微特电机,2012,40(3):4-6. |
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| 作者姓名： | 陶大锦 袁柳斌 |
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| 作者单位： | 1. 温州医学院,浙江温州325035;西安交通大学,陕西西安710049
2. 西安交通大学,陕西西安,710049 |
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| 摘 要： | 以永磁同步直线电动机直接驱动工作台作为研究对象,其滚柱导轨机械接触摩擦力使工作台位置伺服系统表现出粘滑特性,分析了摩擦力对系统性能的影响。辨识了该位置伺服系统的力常数(13.37 N/A)和机械时间常数(128 ms)。基于该系统的模型和辨识参数,采用极点配置法设计了I-PD控制器,闭环极点为-2π×20时,可以有效地抑制粘滑,其定位误差可以达到光栅传感器的分辨率0.5μm。
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| 关 键 词： | 粘滑 摩擦力 直线电动机 位置伺服控制 |
Experimental Study on Stick-Slip Closed-Loop Control for Linear Motor |
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| TAO Da-jin
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YUAN Liu-bin.Experimental Study on Stick-Slip Closed-Loop Control for Linear Motor[J].Small & Special Electrical Machines,2012,40(3):4-6. |
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| Authors: | TAO Da-jin YUAN Liu-bin |
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| Affiliation: | 1.Wenzhou Medical College,Wenzhou 325035,China;2.Xi’an Jiaotong University,Xi’an 710049,China) |
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| Abstract: | The worktable driven directly by a permanent magnetic synchronous linear motor was studied.The stick-slip phenomenon of the position servo system was shown by the mechanical contact friction with linear guide.The effects of friction on the system performance were analyzed.Force constant(13.37 N/A) and mechanical time constant(128 ms) were identified.I-PD controller was designed by pole placement based on the linear model and identified parameters.Stick-slip was suppressed and the positioning error of the servo system achieved the grating’s resolution 0.5 μm through choosing an appropriate closed-loop pole-2π×20. |
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| Keywords: | stick-slip friction linear motor position servo control |
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