| 利用非线性控制技术改善伺服系统的性能 |
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| 引用本文： | 曾佳福,程国扬.利用非线性控制技术改善伺服系统的性能[J].电气传动,2009,39(2). |
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| 作者姓名： | 曾佳福 程国扬 |
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| 作者单位： | 福州大学,电气工程与自动化学院,福建,福州,350108 |
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| 摘 要： | 针对典型电机伺服系统的性能要求,提出一种基于复合非线性反馈(CNF)控制和扩展状态观测器(ES0)的控制方案.在控制方案中,CNF、包含线性和非线性控制两部分,分别实现快速的响应和抑制超调,从而提高控制系统的瞬态性能;通过ESO对伺服系统中的未知状态和扰动进行估计及补偿,消除扰动可能带来的稳态跟踪误差.此控制方案被用于球杆系统的定位控制,实验结果表明控制系统可以实现对目标位置的快速和准确的定位,并具有较强的性能鲁棒性.所设计的伺服控制方案可推广应用到其他伺服系统.
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| 关 键 词： | 伺服系统 瞬态性能 非线性控制 扩展状态观测器 |
Improvement of Servo System Performance by Using Nonlinear Control Techniques |
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| ZENG Jia-fu,CHENG Guo-yang.Improvement of Servo System Performance by Using Nonlinear Control Techniques[J].Electric Drive,2009,39(2). |
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| Authors: | ZENG Jia-fu CHENG Guo-yang |
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| Affiliation: | College of Electrical Engineering and Automation;Fuzhou University;Fuzhou 350108;Fujian;China |
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| Abstract: | A new control scheme was proposed,which combines a composite nonlinear feedback(CNF) control technology with an extended state observer(ESO).The controller aims to meet the performance specification in typical servo systems.In the control scheme,the CNF consists of a linear cotrol part for achieving fast response and a nonlinear control part for suppressing the overshoot,so as to improve the transient performance.The ESO is designed to estimate and compensate the unknown states and the unknown disturbance i... |
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