气压伺服系统高性能鲁棒控制器的设计

2自由度控制器越来越在伺服控制中显示其优越性。2自由度控制利用反馈控制来保证稳定性,利用前馈保证轨迹跟踪性能。首先辨识得到了气压系统的闭环传递函数。基于闭环系统辨识模型设计了零相位误差前馈控制器(ZPETC),ZPETC将闭环系统带宽拓宽为100rad/s左右。系统的干扰抑制能力、鲁棒稳定性由控制器中反馈环节保证。设计了基于干扰观测器的内环反馈控制;外环反馈仍为位置反馈环节。与PID控制比较,整个控制器在试验中得到了良好的轨迹跟踪精度。

DESIGN OF HIGH PERFORMANCE ROBUST CONTROLLER OF PNEUMATIC SERVO SYSTEM

Two degrees of freedom controller has more advantage in the servo control. Feedback guarantees the stability of close loop system and feedforward improves the tracing performance in this controller. Firstly, closed-loop system is identified with ARMAX model. Based on this identified model, zero phase error tracing controller (ZPETC) is designed. Closed-loop band width is increased to 100 rad/s or so. Feedback loop ensures disturbance rejection and robust stability. Inner loop feedback controller is disturbance observer and outer loop is displacement feedback controller. In simulation and experiment the well tracking accuracy is achieved.