电动式位置扰动力矩伺服系统的控制方法仿真

在位置扰动型力矩伺服系统中,由于受力对象的运动给系统带来很大的位置干扰,给系统的校正和优化带来了困难,位置扰动型力矩伺服系统设计的主要任务就是消除它的多余力矩.针对多余力矩和参数变化问题,在建立电动式位置扰动型力矩伺服系统数学模型的基础上,提出了一种新的控制方法:采用单神经元自适应比例积分微分(PID)控制来抑制多余力矩和提高系统的控制性能.仿真结果表明这种控制方法有效地抑制了多余力矩的干扰,提高了系统的鲁棒性和跟踪性能.

Simulation of control method of torque servo system with position disturbance

The torque servo system with position disturbance is difficult to control because the motion of the object makes a strong displacement disturbance to the system.Therefore decreasing extraneous torque is the important task in designing the control system.In this article the mathematical model of the torque servo system with position disturbance is build up and the uni-neural network adaptive PID control is presented to eliminate the extraneous torque.The simulation results show that this kind of the control law can decrease the disturbance torque effectively and improve the robustness and tracking property of the system.