基于跟踪微分器和负载观测器的伺服系统优化

针对常规三环式伺服系统抗扰性较弱、跟踪精度差等不足,借助跟踪微分器和负载观测器对常规伺服系统进行优化设计.利用自抗扰控制技术中的跟踪微分器单元来规划运动轨迹和获取负载突变信息,同时引入负载观测器进行慢速的负载波动的观测.实验结果表明:新设计伺服系统的抗扰性得到了很大改善,在提高跟踪精度、减小机械冲击等方面也取得了更好效果.

Optimization of Servo System Based on Tracking Differentiatorand Load Observer

In order to solve the problem of weak anti-disturbance and poor tracking accuracy of conventional three-ringservo system, this paper optimizes the conventional servo system with the aid of tracking differentiator and load observer.The tracking differentiator unit of anti-disturbance control technology is used to plan the trajectory and acquire theinformation of load mutation, and the load observer is introduced to observe the slow load fluctuation. The experimentalresults show that the anti-disturbance performance of the new designed servo system is greatly improved, and better effectis obtained in improving the tracking accuracy and reducing the mechanical impact.