含位置给定轨迹优化的位置伺服复合控制系统研究

位置动态响应速度快和响应无超调是目前高性能位置伺服系统的两个重要指标。单纯的比例或比例微分位置调节器无法同时满足这两个要求,所以提出了一种新型定位复合控制策略。首先为保证运动过程柔滑无冲击而设定速度余弦函数曲线给定,从而根据平滑变化的速度给定对位置给定信号进行轨迹优化,避免了加速度突变带来的冲击。系统控制结构上提出在前馈控制的基础上引入位置伪微分负反馈控制环节,该环节增加了系统阻尼,减少位置超调量,同时结合前馈控制保证了位置快速跟踪性能。由于采用了伪微分结构代替位置微分运算,避免了微分带来的量化噪声干扰,进一步提升了系统跟踪性能。最后给出了结构参数的取值范围。仿真和试验结果验证了该控制策略的可行性和有效性。

Research on Servo Compound Control System with PositionCommand Trajectory Optimization

Position dynamic fast response speed and without overshoot were two important indicators of the current highperformance position servo system, but proportional or proportional differential regulator could not meet both requirements at the same time, therefore a new positioning compound control strategy was proposed. First set the speed command with cosine function curve to ensure smooth movement without impact, than optimize the command position trajectory according to the speed command for avoid the impact of acceleration mutation. In the system control structure, the position pseudo derivative feedback control was proposed on the basis of feedforward control, this structure increases the system damping for reduces the position overshoot, and combined with feedforward control to ensure fast tracking performance simultaneously. the noise generated by derivative was avoid because of position differential operation was instead of pseudo derivative structure, and the range of the structural parameters was given. The results of simulation and experimental verified the feasibility and effectiveness of the control strategy.