| The synchronization control strategy and implementation are is researched on the background of 2-DOF precision centrifuge. The control characteristic of 2-DOF precision centrifuge is analyzed considering the differences between of the mainshaft and the countershaft. Based on spatial domain repetitive control, the reject method for time-varying periodic disturbance is proposed. And the synchronization control method for improving the synchronization precision is also studied. The main work and innovation is revealed in the following aspects:Firstly, the mechanism model of 2-DOF precision centrifuge is analyzed and the experiment models are established. The disturbance characteristic of the countershaft and the synchronization characteristic is analyzed.Secondly, repetitive control is introduced and the novel repetitive controller is selected by comparing the characteristic of different repetitive controllers. The spatial domain repetitive controller and its implement method are presented and the simulation results demonstrate the effectiveness.Furthermore, the merit and the drawback of some classical synchronization control methods are analyzed and the hybrid synchronization control method is proposed. The simulation results are given and the advantage and disadvantage are analyzed by comparison.Finally, the effectiveness of spatial domain repetitive control is further demonstrated by experiments. The parallel synchronization control method and the cascade synchronization control method are studied in 2-DOF precision centrifuge and the practicability of the cascade synchronization control method is verified. |
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