三明治结构挠性传动系统的PID–P复合控制

PID–P compound control of flexible transmission system with sandwich structure

中文关键词  振动控制  扰动抑制  弱阻尼挠性模态  三明治系统  PID–P控制

英文关键词  vibration control  disturbance rejection  weak damping flexible mode  sandwich system  PID–P control

中文摘要

      针对三明治系统的弱阻尼挠性模态引起的机械谐振问题及齿隙非线性因素的影响给出了一种PID–P复合 控制方法. 系统中齿轮力矩反馈至齿轮前端经死区非线性后引起振荡加剧. 为此本文提出将系统结构中的反馈齿 轮力矩当作扰动信号来处理, 设计了基于对象输入输出的内环反馈扰动观测器. 文中给出的控制器未知参数配置 的系数表法简单易懂, 且物理意义清晰. 仿真结果表明, 文中提出的外环PID–P控制和内环反馈型扰动补偿的复合 控制策略可以很好的抑制由齿轮间隙引起的振荡, 而且可以获得较好的扭矩传递性能. 更重要的是相对于先进的控 制设计理论来说, 控制器易于实现.

英文摘要

      This paper proposes a compound torque control method to solve the mechanical resonance problem caused by the weak damping flexible mode of sandwich system and the influence of backlash based on PID–P controller. The gear torque is fed back to the front end of the gear, and the vibration is intensified after the signal passes through the backlash nonlinearity. In this paper, the feedback gear torque is treated as disturbance signal, and an inner loop feedback disturbance observer based on object input and output is designed. The parameters of the controller can be designed by coefficient diagram method. This method is simple and easy to understand, and the physical meaning is clear. Analysis and simulation results show that the compound control strategy of outer loop with PID–P control and inner loop with feedback disturbance compensation can solve the vibrations caused by gear backlash, and get better torque transfer performance. More importantly, compared with the advanced control theory, this controller is easy to realize.