| 机械传动空回对伺服性能的影响分析 |
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| 引用本文： | 陶忠,鲁亚飞,贠平平,庞澜,杨远成.机械传动空回对伺服性能的影响分析[J].应用光学,2015,36(2):171-176. |
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| 作者姓名： | 陶忠 鲁亚飞 贠平平 庞澜 杨远成 |
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| 作者单位： | 1.西安应用光学研究所,陕西 西安 710065; |
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| 摘 要： | 机械传动空回主要由传动系统间隙、传动链弹性变形以及机械构件受载变形等因素产生，对伺服系统的控制精度和稳定性等具有较大影响。分析了机械传动空回的数学模型，建立了考虑传动空回的伺服系统框图，并通过典型仿真实例，深入分析机械传动空回建模及其对伺服性能的影响。分析结果表明, 传动空回对伺服性能的影响主要体现在2个方面:一是引起相位滞后，影响系统的稳定性;二是引起极限环振荡，产生自振静态误差。
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| 关 键 词： | 传动空回 伺服性能 相位滞后 极限环 |
Influence of transmission gap on servo performance |
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| Tao Zhong;Lu Yafei;Yun Pingping;Pang Lan;Yang Yuancheng.Influence of transmission gap on servo performance[J].Journal of Applied Optics,2015,36(2):171-176. |
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| Authors: | Tao Zhong;Lu Yafei;Yun Pingping;Pang Lan;Yang Yuancheng |
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| Affiliation: | 1.Xi-an Institute of Applied Optics,Xi-an 710065,China;2.College of Mechatronic Engineering and Automation,National University of Defense Technology,Changsha 410073,China |
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| Abstract: | The mechanical transmission backlash mainly generated by the transmission system gap, the elastic deformation of the transmission chain, the loaded deformation of mechanical components and other factors, has a great influence on the control precision and stability of servo system. We analyzed the mathematical model of the mechanical transmission backlash, set up a block diagram of servo system considering the transmission backlash. Furthermore, we analyzed the modeling of mechanical transmission backlash and its influence on the servo performance in depth through a typical simulation example. The results of the analysis show that the influence of transmission backlash on servo performance mainly reflects in two aspects: first, it can cause the phase lag and affect the stability of the system; second, it can cause the limit cycle oscillating which produces self-vibration static error. |
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