[关键词]
[摘要]
在减速比较大的末端齿轮传动机构中,齿隙的存在将导致系统的动态性能表现大幅降低。针对常见的对齿隙进行数学建模及仿真的分析方法,在Creo中建立实体模型,导入Adams并与MATLAB/Simulink进行联合仿真的方式来验证双电机驱动消隙策略的有效性,并设计基于双电机控制系统的扩张状态观测器(ESO)对扰动进行补偿。仿真结果表明:采用的双电机同步消隙策略能有效解决末端齿轮传动机构的齿隙问题,所设计的补偿器能可靠抑制扰动对伺服系统的影响。
[Key word]
[Abstract]
In the gear driving system with large reduction ratio, the existence of backlash will lead to the weak dynamic performance of the servo system. Aiming at the common analysis method of the backlash with mathematical modeling and simulation, the solid model in the Creo is established and then imported into Adams to run the co-simulation with the MATLAB/Simulink. On this basis, the effectiveness of the dual-motor driving anti-backlash strategy is verified. The extended state observer (ESO) based on the dual-motor model is used to compensate the influence of disturbance. The results show that the dual-motor driving anti-backlash method can solve the problems of the backlash in the gear driving mechanism, and the ESO can suppress the disturbance torque effectively.
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