摘要
为了提高装配机器人控制系统的动态性能,依据交流永磁同步电机矢量控制模型,从预见控制的思想出发,提出了一种在原有PID基础上外加预见前馈补偿的控制方法,这种控制方法的前馈补偿项取未来几项目标值一阶差值的线形组合,并仿真验证了该控制方法对提高系统跟踪性能的有效性和简单可行性。
In order to improve dynamic performance of the control system in the assembly robot, according to ACPMSM（AC permanent magnet synchronous motor） vector control model and the control idea about preview control, the paper presents a kind of control strategies that is composite of a primary PID（proportion integral dif-ferenfial） with a preview feed-forward compensation, its compensation is equivalent to linear combination of future adjacent difference, the simulation results show that it can not only improve the system tracking performance effectively, but also implement easily.
出处
《北京石油化工学院学报》
2007年第2期26-28,共3页
Journal of Beijing Institute of Petrochemical Technology
