Low-speed performance analysis and design of velocity servo control system

摘要：

　　This paper studies the effect factors of the performance in low-speed servo control system,from some practical and often neglected perspectives.First of all,the quantization error in the motor drivers angle measurement is considered,which is actually necessary in some practical systems.Then an experiment-based method is proposed to describe the motor disturbance torque and the friction torque with the appropriate accuracy.In addition,on the basis of these analysis results,an hinf controller with the torque compensation is presented completely.At last,the strategy proposed is verified in a real rotary servo system.

关键词： Low-speed servo control Hinf control Driver angular quantization

作者: Silun Zhang Fenghua He Yu Yao Jialiang Wu Longming Li

作者单位: Harbin Institute of Technology,Harbin 150080,P.R.China Beijing Electro-Mechanical Engineering Institute,Beijing 100074,P.R.China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 8000-8005

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）