| 三自由度电机及其解耦控制理论 |
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| 引用本文： | 黄声华,陶醒世,林金铭.三自由度电机及其解耦控制理论[J].华中科技大学学报(自然科学版),1992(5). |
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| 作者姓名： | 黄声华 陶醒世 林金铭 |
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| 作者单位： | 华中理工大学电力工程系
(黄声华，陶醒世)，华中理工大学电力工程系(林金铭) |
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| 基金项目： | 国家教委博士点基金资助项目 |
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| 摘 要： | 本文建立了三自由度电机的电磁模型和力学模型,据此提出了三自由度电机的解耦控制理论.文中给出的仿真与实验结果表明,以上述理论为指导研制的三自由度电机伺服系统实现了无约束的三自由度运动.
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| 关 键 词： | 电机 解耦控制 伺服系统 三自由度 |
A Three-Dimensional Motor and Its Decoupling Control Theory |
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| Huang Shenghua Tao Xinsi Lin Jinming.A Three-Dimensional Motor and Its Decoupling Control Theory[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,1992(5). |
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| Authors: | Huang Shenghua Tao Xinsi Lin Jinming |
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| Institution: | Huang Shenghua Tao Xinsi Lin Jinming |
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| Abstract: | The operating principle of a three-dimensional motor is briefly described. The electromagnetic and mechanical models for the motor have been developed by employing the concept of lumped parameters, from which it can be seen that nonlinear coupling between the electromagnetic and mechanical relationship exists in the motor. The decoupling control theory and an implemented scheme are described. The results obtained from simulations and experiments show that a servo system with the three-dimensional motor can run in three degrees of freedom without constraint. |
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| Keywords: | motor decoupling control servo system three degrees of freedom |
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