位置伺服系统的混合自适应控制

The Mixed Adaptive Control of Positional Servosystem

本文针对某计算机控制位置伺服系统,提出一种变PD参数的混合式模型參考自适应控制方案。这种控制方案外环采用变PD参数控制,内环采用模型参考自适应控制。此算法对库仑摩擦和负荷干扰以及其它不确定因素具有一定的鲁棒性。实时控制实验表明,此系统具有精度高,抗负荷能力强和快速性好等优点,并于1988年12月通过了机电工业部鉴定。

This paper presents a mixed model reference adaptive control scheme of changing PD parameter for a class of positional servosystem controlled by computer, which uses a scheme of changing PD parameter in the outer loop, uses a model reference adaptive control scheme in the inner loop. It is robust to Coulomb Friction, load disturbance and other unknown factors in the plant. It is shown by the real-time control tests that the system has better properties in steady-error, loadings and fastness. And this system passed appraised of Ministry of Machine and Power on December 8, 1988.