基于虚拟仪器的双电机驱动伺服系统控制方法研究-控制理论与控制工程专业论文.docxVIP

西安 西安理工大学硕士学位论文 II万方数据 II 万方数据 Abstract TITLE: Dual-motor Driving Servo System 8ased on Virtuallnstrument M司or: Control Theory and Control Engineering Name: Chen Jiang Signature: _f:_Ae风 Jío.tJI Supervisor: Prof. Haipeng Ren Abstract Signature: 均收明 j之风 As an important p町t of mechanical transmission system，turntable servo system is 机dely used in some important fields of national defense and aerospace for example radar system， naval gun system，radio telescope and missile launcher system. Therefore，the research on control methods and design methods of high-precision turntable servo system has important theoretical significance and application value. In this paper，under the application background of designing a high precision turntable se凹o system，we use the advantages of virtual instrument 也at the development cycle is short， 出e system is flexible and open，and it is easy to connect with other devices，a dual-motor driving tumtable servo system which based on the virtual instruments is designed and the control methods is studied experimentally. In this paper，a variable bias torque anti-backlash control algorithms is designed for the problem of the ge缸s backlash of the turntable device，meanwhile，the two motors synchronization is achieved by dual-motor cross-coupled feedback con位。1，the experimental results show that the propose method is feasible. At 也e s缸ne time ，the 企iction toque compensation method based on the Stribeck 仕iction model is designed by considering the 企iction factor of impacting the low speed performance of the system，and we design a variable universe fuzzy con位oller for the position loop. The experimental results show the effectiveness of variable universe fuzzy control with 丘iction toque compensation method ，the system has be仕er performance at low speed，it proves the feasibility of the propose method. Key words: Virtual instrument; Tumtable servo system; Anti-backlash control; Synchronous controJ; Friction compensation. This work