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。
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.
出处
《应用光学》
CAS
CSCD
北大核心
2015年第2期171-176,共6页
Journal of Applied Optics
关键词
传动空回
伺服性能
相位滞后
极限环
transmission backlash
servo performance
phase lag
limit cycle
