加速度的扰动补偿在控制系统中的应用

为了提高直流力矩电机速度控制系统的伺服性能，使精密光电稳定平台具有更好的动态性能和更强的抗干扰能力，提出了一种基于加速度信号的扰动补偿控制方法。该方法建立了标称控制器，并利用加速度信号构造扰动观测器，快速、精确地补偿外界扰动及由模型误差造成的影响，从而提高系统的响应速度及抗扰动能力。实验结果表明，该控制方法显著地改善了电机控制系统的动态性能，使电机响应迅速而且没有超调；对于阶跃型外界扰动，系统的速度仅出现了宽度仅0.1 s的脉冲型波动，且幅度比PID控制至少减小50%。此外，控制系统对于电机模型的不确定性具有鲁棒性。本文所述控制方法容易实现，适于工程应用。

Application of control system based on acceleration to disturbance compensation

A new control method of disturbance compensation based on acceleration signals is proposed to enhance the servo function of speed control system of a DC torque motor in a precise photoelectric stabilized-platform and to make the system have better dynamical functions and stronger abilities of disturbance rejection.In this method,a nominal controller is established and a disturbance observer is created using acceleration signals to compensate quickly and precisely the external disturbance and to reduce the e...