高性能的位置伺服二自由度控制

为提高位置伺服系统的控制性能，提出一种高性能的位置伺服二自由度控制方法。基于二自由度控制思 想，通过速度环控制分析，提出速度环的回路补偿控制方法，采用前馈补偿控制器设计，通过改造位置伺服控制系 统的速度环调节器与位置环调节器，设计出二自由度控制器，并采用基于转子磁链定向的矢量控制策略进行实验验 证。实验结果证明：该控制方法是可行有效的，具有工程实用价值。

High Performance Position Servo Two-degree-of-freedom Control

In order to improve the control performance of the position servo system, a high-performance position servo two-degree-of-freedom control method is proposed. Based on the idea of two degree of freedom control, through the speed loop control analysis, the loop compensation control method of the speed loop is proposed. The feed forward compensation controller is designed to design a two-degree-of-freedom controller by modifying the speed loop regulator and position loop regulator of the position servo control system. The experimental verification based on the vector control strategy of rotor flux linkage is carried out. The experimental results show that the control method is feasible and effective, and has engineering practical value.