控制工程
控製工程
공제공정
Control Engineering of China
2015年
5期
975-980
,共6页
伺服系统%自适应控制%响应速度%超调量
伺服繫統%自適應控製%響應速度%超調量
사복계통%자괄응공제%향응속도%초조량
Servo system%adaptive control%response speed%overshoot
高性能永磁位置伺服系统既要动态响应快又无超调，传统控制策略难以同时满足两种要求。已有研究成果的基础上，提出了在位置伺服系统中将前馈微分和反馈微分、自适应控制相结合的新型控制策略，在系统微分负反馈的基础上，增加了位置微分前馈控制，可实现控制信号根据误差信号的自适应调节，在确保微分负反馈有效减小超调的前提下，抵消微分负反馈的速度抑制作用，实现了系统发生大位置误差时的无超调性和小位置误差时的实时性。实验结果表明了该策略自适应的有效性，且能实现无超调快速响应控制。
高性能永磁位置伺服繫統既要動態響應快又無超調，傳統控製策略難以同時滿足兩種要求。已有研究成果的基礎上，提齣瞭在位置伺服繫統中將前饋微分和反饋微分、自適應控製相結閤的新型控製策略，在繫統微分負反饋的基礎上，增加瞭位置微分前饋控製，可實現控製信號根據誤差信號的自適應調節，在確保微分負反饋有效減小超調的前提下，牴消微分負反饋的速度抑製作用，實現瞭繫統髮生大位置誤差時的無超調性和小位置誤差時的實時性。實驗結果錶明瞭該策略自適應的有效性，且能實現無超調快速響應控製。
고성능영자위치사복계통기요동태향응쾌우무초조，전통공제책략난이동시만족량충요구。이유연구성과적기출상，제출료재위치사복계통중장전궤미분화반궤미분、자괄응공제상결합적신형공제책략，재계통미분부반궤적기출상，증가료위치미분전궤공제，가실현공제신호근거오차신호적자괄응조절，재학보미분부반궤유효감소초조적전제하，저소미분부반궤적속도억제작용，실현료계통발생대위치오차시적무초조성화소위치오차시적실시성。실험결과표명료해책략자괄응적유효성，차능실현무초조쾌속향응공제。
Permanent magnet synchronous motor servo system with feedforward control has fast dynamic response, high tracking accuracy, practicality and other advantages, and is widely used in the sinusoid position tracking servo system. However, it has little effect on the step position servo system. Therefore, the new control method is proposed. The differential negative feedback control is introduced on the basis of the servo system feedforward control in this paper. After adding the differential negative feedback, the feedforward control function is deduced again so that the differential negative feedback can not only guarantee the little overshoot and rapid response of the step position ,but also have no bad effect on sinusoidal position tracking performance. The simulation and experimental results verify the feasibility and effectiveness of the analysis and the design. The new control method is applicable to a wide range, and has fast response and great practical value.
