基于键合图理论的复杂伺服传动系统的建模与仿真

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Electromechanical coupling for complex servo drive system affects the dynamic behavior and response characteristics of the servo drive system. Simulation models of the complex servo drive system are developed. In traditional dynamics modeling, part of the physical process is difficult to characterize and the state equation is difficult to be solved by mathematical methodsl however, using bond graph theory and signal flow of hybrid modeling method can avoid these defects for the complex servo drive system modeling. The models of each subsystem are established through the modeling method based on bond graph theory and signal flow. The global coupling model of the system is established based on the 20 Sim software platform. The simulation analy- sis is carried out and the effect of load damping on dynamic characteristics of the system is analyzed, which provides the parame- ters for further optimization of this system.为研究复杂伺服传动系统中各参数、各子系统之间机电耦合机理以及机电耦合对复杂伺服传动系统动态特性的影响,需要对系统进行建模和仿真分析。由于采用传统动力学建模存在部分物理过程难以用数学方法表达,状态方程繁琐难以求解等缺点,采用键合图理论和信号流的混合建模的方法能够避免这些缺陷,实现复杂伺服传动系统的建模。本文分别建立了各子系统局部模型,基于20-Sim软件平台建立了系统的全局耦合模型并进行了仿真分析。分析了负载阻尼对系统动态特性的影响,认为负载阻尼过大会影响系统的动态性能。