摘要
针对直接驱动数控转台用环形永磁力矩电机表现出的非线性、强耦合、时变的特点,以及难于精确建模的问题,提出了模糊控制和PID相结合、并能平滑切换的复合控制方法,用模糊控制技术提高伺服系统的动态性能,用PID控制保证系统的稳态性能,引入平滑函数改善控制切换过程.由于在整个控制过程中的不同阶段采用不同的控制方式,既继承了常规控制无静差、静态稳定性好的特点,同时又兼有模糊控制适应能力强、动态性能好的优势,避免了阈值切换导致的系统不稳定.仿真结果表明,该控制算法可以获得满意的控制效果,减小了位置跟随误差,对非线性扰动因素具有良好的适应性.
For the complicated characteristics of ring permanent magnet torque motor such as nonlinearity,strong coupling and time-varying,as well as the difficulty in getting their mathematic models,a smooth-switch compound control method combining fuzzy with PID was proposed.The dynamic characteristic of servo system is enhanced by fuzzy control,the static performance is ensured by PID control,and the switching process between two control methods is improved by a smooth function.Because different control schemes are used in different stages in whole control process,the controller keeps the strong suitability of PID control,and has good static and dynamic performance.The proposed algorithm avoids system instability due to threshold switching.The simulating results show that the scheme has good control performances,low tracking error and strongly adaptive ability to nonlinear disturbances.
出处
《沈阳工业大学学报》
EI
CAS
2008年第2期134-138,共5页
Journal of Shenyang University of Technology
基金
国家自然科学基金资助项目(50375102)
关键词
环形力矩电机
模糊控制
PID控制
平滑切换
复合控制
ring permanent magnet torque motor
fuzzy control
PID control
smooth-switch
compound control
