PDF策略在变载荷高性能控制系统中的设计及仿真

为了实现非线性变化的变载荷负载系统的高性能控制，通过集成基于MATLAB的PDF（伪微分反馈）控制器模型、PMSM电机驱动及控制模型和基于ADAMS的执行传动机构和负载实体三维模型的方法，建立基于PDF控制策略和变载荷负载特性的控制系统设计和性能仿真模型，实现基于PMSM伺服电机驱动变载荷负载对象的控制系统集成设计和系统异构模型集成仿真．同时，在该系统模型构架基础上，进行PDF控制器设计和仿真验证．通过与传统PID算法的控制仿真结果比较，表明了PDF控制算法在变载荷负载情况下的控制精度、抗干扰能力、鲁棒性等方面的特点及在一定程度上较PID算法的优越性．

Design and performance simulation in integrated platform control system based on PDF algorithm for varied-load object

To achieve high control performance of non linear varied load system， through the method of integrated with PDF （pseudo differential feedback） controller model, PMSM motor drive and controller model based on MATLAB， as well as the implementation drive mechanism and load entity three dimensional in ADAMS environment， the paper established the control system design and performance simulation model based on PDF control strategy and variable load characteristics， and realized variable load object control system integration design and system integration of heterogeneous model simulation. Based on the platform of the system， a PDF controller was designed and control performance was analyzed by simulation. Comparing with the results of control simulation based on the traditional PID control algorithm， the final result shows that the PDF control algorithm has more advantages over the PID algorithm in the control accuracy， anti interference ability， robustness and convenient characteristics under the varied load object on the certain degree．