扩展近似时间最优伺服控制及其试验验证

针对带有惯性阻尼环节的典型伺服系统,提出一种能实现大范围快速定点运动的控制方案。控制方案首先利用时间最优控制律进行快速目标追踪,当系统速度下降到一定范围内时平滑切换成线性控制律。采用线性控制区内的闭环极点阻尼系统和自然频率作为设计参数,给出了全参数化的控制律。基于Lyapunov理论分析了控制系统的闭环稳定性。将该控制方案用于一个直流伺服电机的位置-速度环的定点位置控制,并进行了MATLAB数字仿真和基于TMS320F28335 DSC的试验研究。结果表明:所设计的控制系统可以对大范围的给定目标进行快速和准确的跟踪,且对扰动和系统参数差异具有较好的鲁棒性。

Expanded Proximate TimeOptimal Servo Control and ItsExperimental Verification

A control scheme was proposed to achieve largestroke fast setpoint motion in typical servo systems with an inertia damping block. The control scheme initially utilizes the timeoptimal control (TOC) to accomplish fast targeting, and then smoothly switches to linear control when the motion speed falls below the specified threshold. Using the damping ratio and natural frequency of the closedloop poles within the linear control regime as the two design parameters, a fullyparameterized control law was presented. The closedloop stability was analyzed based on the Lyapunov theory. The control scheme was applied to the positionvelocity control loop in a DC motor servo system for setpoint position regulation. MATLAB simulations had been carried out, together with experimental studies based on the TMS320F28335 DSC. The results showed that the proposed control scheme could track a wide range of target references fast and accurately, and had a good performance robustness with respect to the disturbance and parameter variations.