基于优化设计数字滤波器在伺服控制中的应用

在高精确度伺服控制系统中,通常采用零相位误差跟踪控制器ZPETC作为前馈控制器, 作用是消除相位误差,但是,ZPETC将导致很小的增益误差。为改善ZPETC对系统增益性能的影响,提出一种基于L2范数优化的前馈控制器设计方案,通过选取适当的目标函数,设计出最优的数字滤波器,将此滤波器与ZPETC串联组成新的前馈控制器,此滤波器在保持系统零相位误差的同时,改善了系统的增益性能,提高了跟踪精确度。仿真实验表明,采用本文提出的优化设计方案,能够改善系统的运动跟踪性能。

The application of digital filter based on optimal design in servo control

In high accuracy servo control system, Zero Phase Error Tracking Controller (ZPETC) is always used as feedforward controller to eliminate the phase error. But the conventional ZPETC can cause small gain error. To improve the performance of ZPETC, the optimal feedforward controller design scheme based on L2 norm is proposed in this paper. The optimal digital filter is designed by selecting objective function appropriately. The feedforward controller by the optimal digital filter cascade with ZPETC can improve the system gain performance and tracking accuracy while holding zero phase error. The experimental results are presented to demonstrate the better performance of this scheme.