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Design of an adaptive position servo control system.

機(jī)譯：自適應(yīng)位置伺服控制系統(tǒng)的設(shè)計(jì)。

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This thesis describes the engineering design and development of an adaptive position servomechanism. The position servo is a non-linear second order system which can adapt to provide minimum recovery time to position-error-signals for slowly changing system parameters.;The control strategy is based on representing the system in the phase plane and that error rate can be calculated from error readings. A trajectory or curve of error versus error rate of the system is stored in the computer memory. This trajectory is effectively shifted so that it passes through the origin and forms a zero trajectory. The current trajectory is compared with this stored trajectory and when an intersection occurs a torque reversal command is issued by the computer. The system is then driven to the origin in the minimum amount of time. The stored trajectory is continually replaced with the latest error versus error rate readings in order to keep the latest system trajectory in memory.;A method of calculating error rate (with high accuracy) from incoming error readings is proposed which requires a maximum of three bits of information from the error encoder.;In addition a reliable control strategy is developed which overcomes the serious condition of run-away even under the worst possible input signals.;The servo has been synthesized by a D.C. motor coupled through a flywheel and gear train to an output shaft. Desired input position and the servo output position are mechanically connected through a differential gear set to an error shaft position encoder. The encoder delivers to a digital computer the position error in the form of a parallel 10 bit gray code word. A control program operates on this data, and on the basis of present incoming information and past stored data issues commands which trigger a bang-bang relay. This relay drives the servo motor armature which can then deliver positive or negative torque to the system.;Typical performance curves of the now operational system are presented which demonstrates the system's capability to adapt and provide optimum switching.
機(jī)譯：本文介紹了一種自適應(yīng)位置伺服機(jī)構(gòu)的工程設(shè)計(jì)和開發(fā)。位置伺服系統(tǒng)是一種非線性的二階系統(tǒng)，它可以為位置誤差信號(hào)提供最短的恢復(fù)時(shí)間，以緩慢改變系統(tǒng)參數(shù)。控制策略基于在相平面上表示系統(tǒng)，并且誤差率可以從錯(cuò)誤讀數(shù)中計(jì)算得出。系統(tǒng)的誤差與誤差率的軌跡或曲線存儲(chǔ)在計(jì)算機(jī)內(nèi)存中。該軌跡被有效地移動(dòng)，以使其穿過原點(diǎn)并形成零軌跡。將當(dāng)前軌跡與此存儲(chǔ)的軌跡進(jìn)行比較，當(dāng)發(fā)生相交時(shí)，計(jì)算機(jī)會(huì)發(fā)出扭矩反轉(zhuǎn)命令。然后在最短的時(shí)間內(nèi)將系統(tǒng)驅(qū)動(dòng)到原點(diǎn)。為了將最新的系統(tǒng)軌跡保留在內(nèi)存中，用最新的錯(cuò)誤率與錯(cuò)誤率讀數(shù)連續(xù)替換存儲(chǔ)的軌跡。提出了一種根據(jù)傳入錯(cuò)誤讀數(shù)計(jì)算錯(cuò)誤率（高精度）的方法，該方法最多需要三位來自誤差編碼器的信息;此外，開發(fā)了一種可靠的控制策略，即使在最差的輸入信號(hào)下也能克服嚴(yán)重的失控情況;;伺服系統(tǒng)是由通過飛輪和齒輪系耦合的直流電動(dòng)機(jī)合成的到輸出軸。期望的輸入位置和伺服輸出位置通過差動(dòng)齒輪組機(jī)械連接到錯(cuò)誤的軸位置編碼器。編碼器以并行的10位格雷碼字的形式向數(shù)字計(jì)算機(jī)傳送位置誤差。一個(gè)控制程序?qū)υ摂?shù)據(jù)進(jìn)行操作，并根據(jù)當(dāng)前輸入的信息和過去存儲(chǔ)的數(shù)據(jù)發(fā)出觸發(fā)爆炸繼電器的命令。該繼電器驅(qū)動(dòng)伺服電機(jī)電樞，然后可以向系統(tǒng)傳遞正轉(zhuǎn)矩或負(fù)轉(zhuǎn)矩。給出了當(dāng)前操作系統(tǒng)的典型性能曲線，表明了系統(tǒng)的適應(yīng)能力和提供最佳開關(guān)的能力。

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  • 作者

    Gale, Lorrin Gordon.;

  • 作者單位

    University of Windsor (Canada).;

  • 授予單位 University of Windsor (Canada).;
  • 學(xué)科 Engineering Electronics and Electrical.
  • 學(xué)位 M.A.Sc.
  • 年度 1967
  • 頁碼 92 p.
  • 總頁數(shù) 92
  • 原文格式 PDF
  • 正文語種 eng
  • 中圖分類
  • 關(guān)鍵詞

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