采用误差估计补偿的改进型零相位误差跟踪控制

针对伺服系统中零相位误差跟踪控制器(ZPETC)对系统建模误差和参数变化非常敏感的缺点,提出了一种改进型ZPETC设计方法.将信号估计器估计的跟踪误差和系统实时误差作为ZPETC的输入信号,控制器针对系统的跟踪误差进行实时补偿,从而减小零相位误差跟踪控制器受系统参数变化的影响,同时采用低通滤波器(LPF)来消除误差信号中的高频噪声.理论推导与仿真结果表明,该方案在保持伺服系统零相位滞后的同时,减小了系统的跟踪误差,提高了系统的跟踪精度.

Improved zero phase error tracking control with error estimation compensation

In order to overcome the disadvantages that zero phase error tracking controller （ZPETC） in servo system is very sensitive to the modeling error and parametric variation of the system, an improved ZPETC design method was proposed. Both tracking error estimated by signal estimator and real time error of the system were regarded as the input signal of ZPETC. The real time compensation of the controller was performed according to the tracking error of the system, and thus, the influence of parametric variation of the system on ZPETC could be reduced. Meanwhile, a low pass filter （LPF） was used to eliminate the high frequency noise in the error signal. The theoretical derivation and simulated results show that the proposed scheme can not only maintain the zero phase delay of the servo system, but also reduce the tracking error and improve the tracking accuracy of the system.