交流伺服系统的鲁棒性研究

干扰是影响系统性能的主要因素,利用干扰观测器可对交流伺服系统中由负载改变、工作环境变化和建模误差等产生的干扰进行补偿。工作时先在线辨识出系统的模型参数,将干扰观测器的名义模型自动调整为辨识值,再进行所需的控制。研究结果表明,采用干扰观测器结合模型参数在线辨识的交流伺服系统具有较强的鲁棒性。

Study on the robustness of the AC servo system

The disturbance is the main factor which influences the performance of the system,and a disturbance observer is used to compensate the disturbance generated by the variation in load,the change in operation condition and structure uncertainty in modeling in the AC servo system.The model parameters of the servo system are online identified first,and the nominal model of the disturbance observer is modified to the identification values.The research proves that the AC position servo system adopted by the disturbance observer and the parameter online identification scheme can provide strong robustness to the parameter variation.