上海交通大学学报

上海交通大学学报（自然版）

• 自动化技术、计算机技术 • 上一篇    下一篇

3轴电动转台动力耦合分析及抑制策略

李付军1，雒宝莹1，曾军高2，王旭永1，陶建峰1，刘鹏1
  

  1. （1.上海交通大学 机械与动力工程学院， 上海 200240；2.中国船舶工业第6354研究所， 江西 九江 332000）
  • 收稿日期:2010-05-20 修回日期:1900-01-01 出版日期:2011-02-28 发布日期:2011-02-28

Analysis and Control Strategy of a ThreeAxis Electric Rotary Table Dynamic Coupling

LI Fujun1,LUO Baoying1,ZENG Jungao2,WANG Xuyong1,TAO Jianfeng1,LIU Peng1
  

  1. (1. School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China;
    2. No 6354 Institute, China State Shipbuilding Corporation, Jiujiang 332000, Jiangxi, China)
  • Received:2010-05-20 Revised:1900-01-01 Online:2011-02-28 Published:2011-02-28

摘要： 针对某型号的3轴电动转台，从计算多体系统动力学的观点出发建立其运动学方程和动力学方程，并对这种耦合的影响进行了分析.提出了一种利用速度内反馈来主动抑制3轴电动转台动力耦合的策略.该策略和已有的被动解耦控制策略相比，不需要依赖对被控对象的精确建模，且比较容易实现.仿真结果证明了该耦合抑制策略的有效性，表明转台可以达到较高的位置精度和速率平稳度；转台的实际验证实验表明，控制策略使某电动转台达到了良好的性能指标.

关键词: 3轴电动转台, 耦合抑制, 速度内反馈

Abstract: This paper built a kinematics equation and dynamics equation for a threeaxis electric rotary table from the point of view of dynamics of multibody systems, and studied the effect of the dynamic coupling. An active control strategy using velocity internal feedback for a threeaxis electric rotary table dynamic coupling was presented. This strategy need not depend on the accurate modeling of the study object and it is very easy to be accomplished. The simulation result shows that this coupling control strategy is valid and the rotary table has obtained a good position accuracy and velocity smoothness. At last the paper verifies this control strategy in the practical application and the rotary table actually obtains a good control performance using this control strategy.

中图分类号: