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步进驱动系统大振荡机理与轨迹优化控制

DOI: 10.16383/j.aas.2015.c140154, PP. 84-93

Keywords: 步进驱动系统,大振荡,建模仿真,轨迹优化控制

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Abstract:

?为了解决步进驱动系统运动控制中的振荡、丢步和失调等问题,改善步进驱动系统的控制性能,优化步进驱动系统的控制,通过研究步进驱动系统的微步驱动控制过程,建立了步进驱动系统的微步驱动数学模型,提出了步进驱动系统的仿真建模方法,通过仿真模型的数值模拟分析了大振荡、丢步及失调问题的产生原因并建立了大振荡及丢步的机理模型,在此基础上进一步提出了基于稳态截止频率的速度轨迹优化控制方法.最后,通过一个实例进行了实验验证.结果表明:该建模方法能够准确地描述步进驱动系统的特性,速度轨迹优化控制方法能够有效地消除摆臂系统的大振荡、丢步、失调等严重问题,显著提高了摆臂系统运动平稳性及精密定位能力.

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