| 轨迹已知类伺服系统运动控制的工程实现 |
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| 引用本文： | 刘钢,吴智勇,李圣怡,范大鹏,胡德文.轨迹已知类伺服系统运动控制的工程实现[J].组合机床与自动化加工技术,2004(2):53-55. |
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| 作者姓名： | 刘钢 吴智勇 李圣怡 范大鹏 胡德文 |
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| 作者单位： | 国防科学技术大学,机电工程与自动化学院,湖南,长沙,410073 |
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| 基金项目： | 国家自然科学基金，教育部优秀青年教师资助计划 |
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| 摘 要： | 针对轨迹已知类伺服系统的运动控制的特点,提出了一种PFC-PID串级透明控制的工程实现,通过内环PID控制来提高抗干扰性,内环作为外环PFC控制的广义对象,外环采用预测函数控制来获得良好的跟踪性能和强鲁棒性.分析了预测函数控制在具有参数饱和限制环节的伺服系统中的实施算法.并通过仿真比较该算法与PID前馈控制的效果,验证其具有良好的跟踪性能、鲁棒性和抗干扰能力.
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| 关 键 词： | 轨迹已知 伺服系统 运动控制 预测函数控制 跟踪 鲁棒性 抗干扰 |
| 文章编号： | 1001-2265(2004)02-0053-03 |
| 修稿时间： | 2003年7月7日 |
The engineering realization of motion control in servo system of known trajectory sort |
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| LIU Gang,WU Zhiyong,LI Shengyi,FAN Dapeng,HU Dewen.The engineering realization of motion control in servo system of known trajectory sort[J].Modular Machine Tool & Automatic Manufacturing Technique,2004(2):53-55. |
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| Authors: | LIU Gang WU Zhiyong LI Shengyi FAN Dapeng HU Dewen |
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| Affiliation: | LIU Gang WU Zhiyong LI Shengyi FAN Dapeng HU Dewen |
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| Abstract: | PFC-PID cascade transparent control stragety is presented with actions of motion control in servo system of trajectory known sort . The random disturbance is surpassed in the inner-loop with PID control , and the internal loop is the generalized control object of external PFC loop . The capability of tracking and robustness is acquired by predictive functional control of the external-loop. The paper analyses the implemented algorithm of the predictive functional control in servo system with tache of restrictive saturated parameters. The simulation results show that the new PFC-PID control method has better tracking performance, robustness and anti-disturbance ability than those of feed-forword PID control. |
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| Keywords: | known trajectory servo system motion control predictive functional control track robustness suppress disturbance |
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