提出了一种基于特性模型的机械系统传动误差自适应补偿控制方法

Wanwan Ren, You Wu, Ronghua Du
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引用次数: 0

摘要

应用基于特征模型的黄金分割自适应控制理论,提出了一种机械系统传动误差的自适应误差补偿控制方法。以滚珠丝杠为主要传动部件,建立了带补偿机构的机械传动系统。分析了机械传动系统的动力学特性。介绍了基于特征模型的GSA控制理论。针对已建立的传动系统特征模型,采用投影梯度法对其特征参数进行在线辨识。对由特征模型和GSA控制器组成的闭环系统进行了稳定性分析。实验结果表明,基于特征模型的GSA控制具有较好的传输误差补偿效果,且现场调试简单。验证了该方法的有效性和优越性。
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An adaptive compensation control method for the transmission error of the mechanical system based on the characteristic model
Applying the characteristic model-based golden section adaptive (GSA) control theory, an adaptive error compensation control method for the transmission error of the mechanical system is proposed in this paper. A mechanical transmission system with a compensation mechanism was established, taking the ball screw as the main transmission component. The dynamics characteristic of the mechanical transmission system is analysed. The GSA control theory based on the characteristic model is introduced. For the established characteristic model of the transmission system, the projection gradient method is used to identify its characteristic parameters online. The stability analysis of the closed-loop system consisting of characteristic model and GSA controller is carried out. The experimental results show that the characteristic model-based GSA control has a good effect on the transmission error compensation, as well as simple on-site debugging. The effectiveness and superiority of the method are verified.
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来源期刊
International Journal of Manufacturing Technology and Management
International Journal of Manufacturing Technology and Management Engineering-Industrial and Manufacturing Engineering
CiteScore
0.70
自引率
0.00%
发文量
6
期刊介绍: IJMTM is a refereed and authoritative source of information in the field of manufacturing technology and management and related areas.
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