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[1]王毅,何朕,孟范伟.齿隙系统的建模与自振荡分析[J].电机与控制学报,2017,21(03):78-82.[doi:10.15938/j.emc.2017.03.011]
 WANG Yi,HE Zhen,MENG Fan-wei.Modeling and limit cycle analysis for systems witli backlash[J].,2017,21(03):78-82.[doi:10.15938/j.emc.2017.03.011]
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
21
期数:
2017年03
页码:
78-82
栏目:
出版日期:
2017-03-01

文章信息/Info

Title:
Modeling and limit cycle analysis for systems witli backlash
作者:
王毅何朕孟范伟
?(1.哈尔滨工业大学航天学院,黑龙江哈尔滨150001.2.东北大学秦皇岛分校控制工程学院,河北秦皇岛066004)
Author(s):
WANG Yi1 HE Zhen1 MENG Fan-wei2
?(1. School of Astronautics Harbin Institute of Technology Harbin 150001,China; 2. School of Control Engineering Northeastern University at Qinhuangdao Qinhuangdao 066004, China)
关键词:
齿隙三明治系统滞环自振荡描述函数
Keywords:
backlash sandwich system hysteresis limit cycle describing function
分类号:
TP 273
DOI:
10.15938/j.emc.2017.03.011
文献标志码:
A
摘要:
针对齿隙系统都有自振荡倾向的问题,给出了自振荡的条件。分析并说明了当齿隙处于系统中不同的位置上时要用不同的非线性特性来描述。当有力矩传递时齿隙的模型应该是用死区特性来描述,死区特性夹在两个动态环节之间形成了所谓的三明治系统。如果齿隙位于系统的输出端,则齿隙就具有滞环特性。无论是死区特性或滞环特性的场合,系统都有可能出现自振荡。分析指出这种三明治系统是由多重反馈回路所构成的,因而存在着固有的稳定性问题。采用描述函数法分析了这种三明治系统产生自振荡的条件,结论是齿隙的这种三明治系统与带滞环特性的系统一样,也是很容易起振的,并给出了改善起振条件的可能措施。
Abstract:
For the problems that all systems with backlash are likely to oscillate,the conditions for self-os-cillation were discussed. It shows that there are different nonlinear characteristics for the backlash at dif-ferent positions of the system. I there are torques transmitted through the gear train,the backlash must be modeled as a dead zone,where the system is of sandwich structure : a dead zone between two dynamic blocks. If tlie gear train is at tlie output of the system,then the backlash is modeled as a hysteresis charac-teristic. Whenever in the dead-zone case or hysteresis case,the systems all are likely to oscillate undercertain conditions. It is pointed out that for the sandwich system,there are multiple feedback loops sur-
rounding a dead zone,so the stability problem may exist naturally wit!i such system structures. The descri-bing function met!iod is used to analyze the limit cycles of the sandwich system. It Show that the system with sandwiched backlash also has the tendency to oscillate just like a system with hysteresis. Measures to aieviate the problem of self-oscillation were also discussed.

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备注/Memo

备注/Memo:
收稿日期 2016 -05 -30
基金项目:国家自然科学基金 (U1564207)
作者简介:王毅 (1967—$,男 ,博士 ,副教授 ,研究方向为高精度伺服系统和摩擦补偿 ;
何朕(1972—),女,博士,教授,研究方向为控制系统设计、鲁棒控制及控制等 ;
?孟范伟(1981—),男,博士,讲师,研究方向为鲁棒控制与 Ht 控制。
更新日期/Last Update: 2017-04-01