一种提高伺服控制系统性能的设计方法

伺服系统往往存在非线性和不确定因素,其工作过程中参数是时变的,且经常存在非线性扰动,常规控制器很难满足大范围高精度的控制需求。针对伺服系统的大范围高精度控制问题,将线性自抗扰控制器应用于伺服控制系统设计。分析了对象模型,给出了控制器设计过程和结果,在Matlab Sinulink平台进行了仿真实验,并用Quanser半实物平台SER02进行实际验证。实验结果表明自抗扰控制算法具有比PID控制算法更好的鲁棒性,且控制器设计简单,为高性能伺服系统的设计提供参考。

A Method for Improving the Performance of Servo Control System

The servo system usually contains nonlinear and uncertain factors which affect the precision of the control system. The working process is time-varying and often existing nonlinear perturbations. Conventional controllers are dif-ficult to meet the requirements of large-scale and high-precision control. In this paper,the linear active disturbance re-jection controller(LADRC)is used for servo control system to provide a convenient controller. The object model is analyzed,and the controller design process and results are given. Simulation is carried out with MATLAB/Simulink and actual experiment is executed on Quanser semi-physical simulation platform SER02. The results indicate that the proposed algorithm possess is better robustness than PID;and the controller is simple to design;thus a reference for the design of high performance servo system is provided.