欠驱动多轴机械节能控制系统误差时域分析

Time domain error analysis of energy saving control system for underactuated multi axis machinery

摘要:

分析节能控制系统误差会受到地域和空间环境限制，导致传统方法分析结果精准度较低，针对该问题，提出了时域方法对欠驱动多轴机械节能控制系统误差进行分析。从系统控制时域响应角度出发，研究控制系统在静态响应和动态响应两方面的控制误差。通过静态响应特点构流程图，并计算静态误差，以计算结果为依据分析输入信号对静态误差影响，可改善空间限制问题；通过动态响应特点绘制过程曲线，并计算动态误差，以计算结果为依据研究不同时间段对动态误差影响，可改善地域限制问题。由实例对比结果可知，时域方法对系统控制误差分析结果精准度较高，最高可达到90%，为工业控制系统提供时域方面信息。

Abstract:

The analysis of the error of the energy saving control system will be restricted by the regional and spatial environment, which leads to the low precision of the traditional method analysis results. In view of the problem, the time domain method is proposed to analyze the error of the under actuated multi axis mechanical energy saving control system. From the point of view of system control time domain response, the control error of control system in two aspects of static response and dynamic response is studied. Through the static response characteristics, the flow chart is constructed and the static error is calculated. Based on the calculation results, the influence of the input signal on the static error can be analyzed. The space limitation can be improved, the process curve is drawn and the dynamic error is calculated by the dynamic response characteristics, and the dynamic error is influenced by the calculation results on the basis of studying the dynamic error on the basis of the calculation results. The problem of regional restrictions can be improved. The result of the case comparison shows that the time domain method has a high precision for the system control error analysis result, and the maximum can reach 90%. The time domain information is provided for the industrial control system.