Analysis and Improvement of the Low Speed Performance of Table Servo System
|School||Harbin Institute of Technology|
|Course||Control Science and Engineering|
|Keywords||Low-speed performance Servo System Adaptive Friction Compensation Switching control|
In this thesis, there are strict requirements on the low-speed performance (speed accuracy rate stability ) high-precision servo system for the subject background analysis of the characteristics of these factors , the the nonlinear disturbance torque , noise and other factors present in the system , and its the adverse effects of the system . This thesis focuses on the impact turntable friction torque for low-speed performance and noise factors for the improvement of the low-speed performance , research two methods of performance improvement . First, the paper proposes three low-speed performance of the determination servo system evaluation methods , and analyzes the main factors of the low-speed performance of the four impact servo system . The most important factor affecting the low-speed performance - friction torque , the friction model at home and abroad , in-depth analysis of the effect of the friction torque on the system performance and validated by MATLAB simulation . Secondly, the influence of the friction torque , a low-speed performance improvements - based on Coulomb friction model reference adaptive compensation method . The method is based on Lyapunov function design adaptive control law , to ensure the stability of the system , but also has some compensation other than the friction torque disturbance torque . By MATLAB simulation analysis , to verify the effectiveness of this method . Finally, the effects of noise factors , this thesis based switching control of the low-speed performance of the servo system to enhance the method , the high - speed bandwidth controller switching system noise suppression . In addition, for the implementation of the handover procedure , a switching controller state initialization algorithm, to ensure the continuity of the output of the switching timing control amount .