加速度前馈在高精度伺服跟踪系统中的应用研究

简要介绍了含有前馈校正的复合控制系统,给出了三闭环控制系统的2种双前馈控制方案,详细推导了这2种方案前馈系数的确定过程,经比较得出了速度、加速度双前馈控制方案优于速度、电流双前馈控制方案.最后,对系统加入加速度前馈前后进行了实验比较,结果表明,加速度前馈的加入,有效提高了系统跟踪机动目标的能力.

Application Research of Acceleration Feedforward in the High Precision Servo Tracking System

The complex control system with feedforward correction is briefly introduced, the two double-feedfor- wad control projects of three closed-loop control system are given, and how confirm their feedforwad-coefficients is also deducedin detail, comparing the two coefficients, it is shown that the double-feedforward with speed and acceleration is better than the other one. At last, the comparing experiment is done to the system with acceleration feedforward or not, as a result, acceleration feedforfard improves greatly the ability of the system for tracing the mobile object.