伺服系统方位的最优控制研究

文章从实现快速且无超调的方位控制的要求出发,分析了伺服驱动的速度控制。针对传统PID控制算法的参数不易在线调整,提出了伺服控制系统时间最优控制算法,从而能够在线修正参数,提高了控制的鲁棒性。根据最优控制思想,如果系统按最大加速度启动,以最大速度运动,再以最大减速度制动,就可以以最短时间无超调地到达指令位置。经过仿真测试该系统可达到提高控制精度的目的。

Study on Optimal Control of Servo System Position

From realizing fast, and the non-over modulation＇s azimuth control＇s request, the speed control for the servo actuates has been analyzed in this article. In view of traditional PID control algorithm＇s parameter not easy online adjustment, the servocontrol time optimum control algorithm has been proposed, thus the parameter can be revised online, the control robustness is enhanced. According to optimum control thought that if the system starts with the maximum acceleration, the maximum speed movement, and then applies the brake again by the biggest retarded velocity, the system may, by the shortest time, arrive at the instruction position with no over modulation. Tests this system after the simulation to be possible to achieve the enhancement control precision the goal.