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本文用状态空间法分析了含齿隙、传动链刚度、负载转动惯量、摩擦(包括静摩擦、库仑摩擦、粘滞摩擦)等结构因素的新的伺服系统动力模型。其特点是既考虑了各结构因素的综合作用,又计入了电机运动的负载效应,用正交试验法比较在M 68000机上进行的数字仿真结果和在结构参数模拟试验台上进行的物理仿真结果,说明可以本文提出的方法为基础进行计算机辅助控制系统结构参数的初步理论分析。
In this paper, a new servo system dynamic model with backlash, stiffness of transmission chain, load moment of inertia, friction (including static friction, Coulomb friction, viscous friction) and other structural factors is analyzed by the state space method. It is characterized by taking into account not only the combined effects of various structural factors but also the loading effects of motor motions. The numerical simulation results on the M 68000 machine and the physical simulation performed on the structural parameter simulation test stand are compared by orthogonal test The result shows that the preliminary theoretical analysis of the structural parameters of the computer-aided control system can be based on the method proposed in this paper.