| 引用本文: | 张珩,肖歆昕.间隙引发的变载非线性及其闭环辨识[J].控制理论与应用,2019,36(5):673~679.[点击复制] |
| ZHANG Heng,XIAO Xin-xin.Onload-offload cycling nonlinearity caused by backlash and its closed-loop identifications[J].Control Theory and Technology,2019,36(5):673~679.[点击复制] |
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| 间隙引发的变载非线性及其闭环辨识 |
| Onload-offload cycling nonlinearity caused by backlash and its closed-loop identifications |
| 摘要点击 2552 全文点击 948 投稿时间：2018-03-29 修订日期：2018-07-23 |
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| DOI编号 10.7641/CTA.2018.80216 |
| 2019,36(5):673-679 |
| 中文关键词 间隙变载非线性 间隙闭环辨识 非线性效应 描述函数 自激振荡 |
| 英文关键词 backlash onload-offload cycling nonlinearity closed-loop backlash identification nonlinear effect describing function self excited oscillation |
| 基金项目 国家重点基础研究发展计划 |
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| 中文摘要 |
| 阐明了齿轮传动位置伺服系统间隙除产生熟知的前向迟滞非线性之外, 还将因系统往复运动中加卸载相交替的反向调制致使驱动电机动力学参数同步跳变所出现的变载非线性现象. 推导建立了这类非线性在一阶谐波意义下的串联式等效频域模型及其近似计算公式, 分析了相应的幅相特性. 进一步面向服役中系统提出了直接通过闭环弱自激振荡控制所实现的间隙辨识新方法, 给出了控制器的结构及其参数整定策略. 此外, 文中还给出了含高斯白噪声测量的仿真算例, 充分验证了闭环间隙辨识方法的有效性和便捷性. |
| 英文摘要 |
| It is clarified in this paper that backlash in position servo system with gear mechanisms, apart from causes the well-known forward hysteresis characteristics, leads to the onload-offload cycling nonlinearity as a result of synchronous jumps of driving dynamics parameter due to the naturally backward modulation result from repetitive changes between loading and unloading state in reciprocating motions. An equivalent frequency-domain model and its approximate formula are established for this nonlinearity within the first harmonic wave sense, and the magnitude frequency and phase frequency characteristics of the model are correspondently analyzed. Furthermore, a new backlash identification method based on closed-loop weakly self-excited oscillation is presented for systems in active service, hence a controller tuning algorithm is suggested. The effectiveness and accessibility of the proposed method are additionally verified via numerical simulations on specific example with different backlash values under white Gaussian noise measurements. |