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[1]程国扬,曾佳福.快速定位伺服系统的控制器设计 [J].电机与控制学报,2009,(01):52-56.
 CHENG Guo-yang,ZENG Jia-fu.Controller design for fast positioning servo systems[J].,2009,(01):52-56.
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快速定位伺服系统的控制器设计
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
期数:
2009年01
页码:
52-56
栏目:
出版日期:
2009-01-30

文章信息/Info

Title:
Controller design for fast positioning servo systems
作者:
程国扬; 曾佳福
福州大学电气工程与自动化学院
Author(s):
CHENG Guo-yang; ZENG Jia-fu
关键词:
最优控制 反馈 状态观测器 伺服系统 非线性 补偿
Keywords:
optimal control feedback state observers servo systems nonlinearities compensation
分类号:
TM3;TM273
DOI:
-
文献标志码:
A
摘要:
提出一个用于实现快速和准确的伺服定位的控制方案。此控制方案是在近似时间最优控制(PTOC)的框架中嵌入了一种复合非线性反馈(CNF)控制律,并引入一个扩展状态观测器(ESO)。其中,CNF控制律包含线性和非线性反馈两部分,分别实现快速的响应和抑制超调,从而提高短距离定位时的瞬态性能;而PTOC控制律则用于在定位误差较大的时候进行最大的加速和减速;通过ESO对伺服系统中的未知速度和扰动进行估计及补偿,以消除稳态误差。针对双积分模型的伺服系统,设计了一个参数化控制器,并用于球杆系统的定位控制。实验结果表明控制系统可以实现对目标位置的快速和准确的定位,并具有较强的性能鲁棒性。
Abstract:
A new control scheme is proposed to achieve fast and accurate servo positioning.The control scheme incorporated a composite nonlinear feedback(CNF) control technique into the framework of proximate time optimal control(PTOC),together with an extended state observer(ESO).The CNF control law consisted of a linear feedback part for achieving fast response and a nonlinear feedback part for suppressing the overshoot,so as to improve the transient performance in short span positioning,while the PTOC law was responsible for fast acceleration and deceleration when the tracking error was large.The ESO was designed to estimate the unknown velocity and compensate the disturbance in servo systems,thus effectively removed the static error.A parameterized controller was designed for servo systems modeled by a double integrator.The design was then applied to a ball-beam system for positioning control.Experimental results verify that the controlled system is capable of fast and accurate positioning on target locations,with a strong performance robustness.The control scheme can be extended to other servo systems.

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备注/Memo

备注/Memo:
福建省青年人才基金(2006F3068)
更新日期/Last Update: 2009-07-08