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标题：基于刚性表的伺服速度环参数整定策略研究 |
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作者：丁信忠，吴为 |
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| 2018年第5期 访问次数：249次 |
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摘要：基于系统串联矫正理论，推导出速度环的控制性能由系统惯量和期望带宽两方面决定。在对伺服系统电流环、速度环建模的基础上，结合带衰减因子的最小二乘惯量辨识方法，提出了基于刚性表的速度环参数整定方法，该方法建立了单一刚性参数与速度环期望带宽、负载类型的等效关系，克服了传统方法仅适应于特定负载类型的缺点，且使工程应用中的速度环参数调试复杂度大幅降低。实验结果验证了所研究的速度环参数整定方法的可行性和有效性。
关键词：参数整定；刚性表；期望带宽；负载特性
Abstract: According to the derivation based on system series correction theory, the control performance of velocity loop depends on both the system inertia and the expected bandwidth. Combined with system inertia identification by least square method with forgetting factor, rigidity table velocity loop tuning strategy was proposed based on modeling of current loop and velocity loop. This method established the equivalent relation between the single parameter of rigidity and velocity desired bandwidth and load characteristics. It overcomed the defects of poor load characteristics adaptability and significantly reduced the complexity of engineering parameter tuning. The experimental results verified the feasibility and effectiveness of the proposed method.
Key words: parameter tuning; rigid table; expected bandwidth; load characteristic
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