Dissertation > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Automatic control,automatic control system

Analysis and Improvement of the Low Speed Performance of Table Servo System

Author PengJi
Tutor ZhaoHui
School Harbin Institute of Technology
Course Control Science and Engineering
Keywords Low-speed performance Servo System Adaptive Friction Compensation Switching control
Type Master's thesis
Year 2009
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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 .

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