基于干扰观测器与模糊前馈补偿的随动系统PID控制策略

针对随动系统在非线性随机力矩干扰时输出信号易畸变的现象,提出一种基于干扰观测器与模糊前馈补偿的随动系统PID控制策略。在随动系统"三闭环"结构模型的基础上,合理设计干扰观测器与模糊前馈补偿器,对干扰力矩的不确定性误差进行补偿,经仿真试验与结果分析,与传统模糊PID控制策略相比,所提策略能更好地补偿随动系统在非线性随机力矩干扰下的不确定性误差,削弱模糊PID控制的抖振,使系统具有良好的跟踪性能与鲁棒性。

PID Control Strategy of Servo System Based on Disturbance Observer and Fuzzy Feed-forward Compensation

In the presence of nonlinear and random disturbance torque, the output signal of serve system deteriorates easily. Aiming at this phenomenon, proposed is a kind of PID control strategy of serve system based on disturbance and fuzzy feed-forward compensation. Based on the three closed loop structure model of servo system,the disturbance observer and fuzzy feed-forward are reasonably designed to compensate for the uncertain errors of disturbance torque. Through the simulation experiment and the analysis of results and in comparison with the traditional control strategy of fuzzy PID, the proposed strategy could compensate for uncertain errors better in the presence of nonlinear random torque, weaken the chattering of fuzzy PID control and make the system possess good tracking performance and robustness.