摘要
摩擦力矩和电机波动力矩是影响高精确度伺服转台控制系统位置跟踪精确度的主要因素。针对系统中摩擦力矩和电机波动力矩等扰动力矩补偿问题,提出一种综合的扰动力矩补偿控制策略。基于摩擦观测器提出一种PD前馈控制方法,对系统中的动态摩擦力矩进行了补偿,并利用Lyapunov稳定性理论对所提出的方法进行了系统稳定性分析。结合基于重复控制器的扰动观测器进一步提出一种综合的扰动力矩补偿控制策略。一方面,摩擦补偿方法可以对系统中的摩擦力矩进行补偿;另一方面,插入的重复控制器可以很好地抑制系统中的周期性波动力矩,而扰动观测器则用来补偿重复控制及摩擦补偿时给系统带来的不确定性。仿真结果证明了所提出的方法的有效性。
The friction torque and motor ripple torque are main factors that influence the position tracking accuracy of high precise servo turntable control system. Against the influence of friction torque and motor ripple torque on the system, the paper presents an integrate disturbance torques compensation strategy. First, it proposed a PD feedforward control method with the friction observer, which compensated dynamic friction torque in the system, and it analyzed the system, s stability depending on Lyapunov stability theory. Furthermore, combining with the disturbance observer based on the repetitive learning control, it proposed an integrate disturbance torques compensation strategy. On one hand, the proposed method may compensate the friction in the system. On the other hand, the inductive repetitive controller may restrain well the periodic ripple torque and the disturbance observer is used to compensate the uncertainty that is aroused by repetitive control and friction compensation to the system. The simulation results prove the effectiveness of the proposed method.
出处
《电机与控制学报》
EI
CSCD
北大核心
2009年第4期615-619,共5页
Electric Machines and Control
基金
武器装备预研基金(5145400204HT01)
