模型算法控制的交流位置伺服系统

针对传统交流位置伺服系统存在的结构复杂及其系统性能受不确定性影响严重等缺点，综合模型算法控制（MAC）在线实时预测、优化、反馈校正的优点，提出一种用于交流位置伺服系统的MAC控制方案，采用交流位置伺服系统的一阶ARMA模型为预测控制的参数模型，并在此基础上优化、校正，不但有效地实现了系统在各种运行条件下的性能最优，而且控制算法简易，很好地满足了动态较快的电动机实时性要求。对系统的稳定性和鲁棒性进行了分析、论证，表明无论模型如何失配，系统均稳定、无输出静差，鲁棒性强，实验结果进一步证明，在MAC控制下，交流位置伺服系统具有很高的静态精度和良好的动态跟踪性能。

AC Position Servo System-controlled by Model Algorithmic Control

In the conventional AC position servo system,there exist many drawbacks,such as the structure is complicated,and the control performance is significantly influenced by various uncertainties, etc . To overcome these,synthesizing the advantages of model algorithmic control (MAC) in prediction,optimization and feedback in real time on line, a MAC scheme for AC position servo drive system is proposed.The first order ARMA model of the servo system is used as parameter model in the predictive control,which makes control algorithm simple,and excellent performances are fulfilled by dynamic optimization and feedback tuning.By analyzing system's stability and robustness,it is found that stability and robustness can be guaranteed in any cases.Experimental results verify the proposed control scheme,and show that the system is of excellent dynamics and static performances.