CAJ | 학술논문

介绍了一种应用于高精度跟瞄系统的自抗扰控制器。通过与常规PID比较，对该控制器进行了功能分析，并结合实际系统，分析出其在控制上的优越性；分别采用PID控制器和自抗扰控制器对高精度跟瞄系统的速度环进行了设计。在Matlab仿真和实验验证中得到了一致的结果：自抗扰控制器能改善伺服系统的速度响应特性，可以实现阶跃响应快速无超调。在突发扰动条件下，自抗扰控制器的跟踪精度稳定性和鲁棒性均优于常规PID控制器。
개소료일충응용우고정도근묘계통적자항우공제기。통과여상규PID비교，대해공제기진행료공능분석，병결합실제계통，분석출기재공제상적우월성；분별채용PID공제기화자항우공제기대고정도근묘계통적속도배진행료설계。재Matlab방진화실험험증중득도료일치적결과：자항우공제기능개선사복계통적속도향응특성，가이실현계약향응쾌속무초조。재돌발우동조건하，자항우공제기적근종정도은정성화로봉성균우우상규PID공제기。
An active disturbance rejection controller (ADRC) applied in high-precision tracking system is introduced. Comparing with conventional proportional-integral-differential (PID) controller, the function analysis of the controller is performed. With an actual system, control advantages of the controller are analyzed. PID and ADRC controllers are used respectively to design the speed loop of the high-precision tracking system. Consistent results from MATLAB simulation and experimental verifications show that the speed response characteristics of the servo system are improved by ADRC controllers, which can realize fast step response without overshoot. ADRC also has better tracking accuracy in terms of stability and robustness than that of conventional PID controllers in sudden disturbance.