高速高精运动控制器参数的优化设计

Optimal Design of Controller Parameters in High-Speed/High-Accuracy Motions

对所研究的直线运动部件的摩擦力与被控对象 ,提出了自回归平均滑动模型。讨论了实现高速高精运动控制的途径 ,指出IP加预见前馈补偿的控制方法是目前实现高速高精运动较好的控制方法。对作为预见前馈控制基础的PID控制回路 ,分析了其控制器参数对系统性能的影响规律 ,提出了控制器参数的选择原则 ,并应用Matlab语言和Simulink软件进行了控制器参数的优化设计。最后在考虑系统实际动态特性的情况下 ,分析了可能发生的失稳对高速高精运动的限制。

For the linear motion friction and the plant discussed,the paper presented an ARMA model. The way to realize motion control of high-speed/high-accuracy was discussed,and the control method of I-P plus preview feed forward was proposed to be as the better one. For the PID control loop,which is used as base framework of preview feed forward control,the paper analyzed the controller parameters affecting upon system performance and proposed the selection principle of the controller parameters. Making use of Matlab and Simulink,the controller parameters are oplimized. At last,taking into account the system dynamic performance,the possible unstable limits for high-speed/high-accuracy motion was also analysed.