|本期目录/Table of Contents|

[1]田大鹏,吴云洁,刘晓东,等.高精度电机伺服系统控制综合方法[J].电机与控制学报,2010,(07):66-74.
 TIAN Da-peng,WU Yun-jie,LIU Xiao-dong.Synthesis methods of high precision motor servo system control[J].,2010,(07):66-74.
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
期数:
2010年07
页码:
66-74
栏目:
出版日期:
2010-08-07

文章信息/Info

Title:
Synthesis methods of high precision motor servo system control
作者:
田大鹏; 吴云洁; 刘晓东;
北京航空航天大学自动化科学与电气工程学院;
Author(s):
TIAN Da-peng; WU Yun-jie; LIU Xiao-dong
School of Automation Science and Electrical Engineering; Beihang University; Beijing 100191; China
关键词:
伺服系统 鲁棒性 微分估计 干扰观测器 完全跟踪
Keywords:
servo system robustness differential estimation disturbance observer perfect tracking
分类号:
TM921.541
DOI:
-
文献标志码:
A
摘要:
针对高精度电机伺服系统控制器设计中的关键问题进行了研究。依据非线性跟踪-微分器的基本思想提出一种等效微分估计方法并给出其最简形式的离散实现。依据小增益定理讨论干扰观测器综合时低通滤波器阶数的影响并提出其综合准则。论述零相差前馈和完全跟踪控制器的设计方法及其适用范围。利用微分估计对信号畸变不敏感的特性设计一种等效速度+加速度前馈方案。数值分析和仿真实验表明:与传统差分方法相比,微分估计能在信号存在噪声和畸变的情况下获得有效的微分值;通过设计低通滤波器阶数可以提高干扰观测器的截止频率;提出的前馈与零相差前馈和完全跟踪控制器相比,跟踪5 Hz正弦指令的误差减至0.02°,且对指令畸变不敏感。
Abstract:
The studies were implemented for the core problems on controller design of high precision motor servo system.A differential estimation method was proposed based on the basic idea of nonlinear track-ing-differentiator,as well as its discrete realization of the simplest format.According to the small gain theorem,the order number influence of the low-pass-filter was discussed for disturbance observer(DOB) synthesis,besides,the synthesis rule was proposed.It was also discussed on the design methods and ap-plica...

参考文献/References:

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备注/Memo

备注/Memo:
教育部新世纪优秀人才支持计划项目(NCET-07-0044)
更新日期/Last Update: 2010-10-20