递阶辨识方法在转台伺服系统调试中的应用研究

The Study on the Hierarchical Identification Method in the Debugging of Turntable Servo System

中文关键词  伺服系统  递阶辨识  机械谐振  拟牛顿法

英文关键词  servo system  hierarchical identification  mechanical resonance  quasi_newton method

中文摘要

      针对转台伺服系统中机械谐振对系统产生的影响, 对包含有机械谐振的被控对象, 采用计算量较小的参数递阶辨识方法辨识被控对象, 并对机械谐振进行有效抑制, 从而大大提高系统的动态响应指标. 该方法不但克服了原有系统辨识过程中计算量和存储量大的缺点, 还克服了以往用试凑法抑制谐振的繁琐、低精度等缺点, 从而提高了系统调试的自动化水平, 并使系统性能得到了较充分的发挥.

英文摘要

      In view of the fact that mechanical resonance in the turntable servo system has serious effects on the whole system,this paper adopts hierarchical identification method with fewer quantity of computation to identify the plant containing mechanical resonance. After suppressing the resonance effectively by identification results, dynamic performance of the system has been improved greatly. The method not only overcomes the difficulty of large quantity of computation and storage, but also gets over problems of fussy debug procedure and low precision result proposed by the old method, and as a further result of which, it also improves the automatic debugging standard and the system's performance adequately.