加速度在控制系统扰动补偿中的应用

Application of control system based on acceleration to disturbance compensation

为了提高直流力矩电机速度控制系统的伺服性能,使精密光电稳定平台具有更好的动态性能和更强的抗干扰能力,提出了一种基于加速度信号的扰动补偿控制方法。该方法建立了标称控制器,并利用加速度信号构造扰动观测器,快速、精确地补偿外界扰动及由模型误差造成的影响,从而提高系统的响应速度及抗扰动能力。实验结果表明,该控制方法显著地改善了电机控制系统的动态性能,使电机响应迅速而且没有超调;对于阶跃型外界扰动,系统的速度仅出现了宽度为0.1 s的脉冲型波动,且幅度比PID控制至少减小50%。此外,控制系统对于电机模型的不确定性具有鲁棒性。本文所述控制方法容易实现,适于工程应用。

A new control method of disturbance compensation based on acceleration signals is proposed to enhance the servo function of speed control system of a DC torque motor in a precise photoelectric stabilized-platform and to make the system have better dynamical functions and stronger abilities of disturbance rejection. In this method, a nominal controller is established and a disturbance observer is created using acceleration signals to compensate quickly and precisely the external disturbance and to reduce the effect of the model error. Thus, the dynamical function and disturbance rejection ability of the system are enhanced. The experiment result shows that this control method can improve the dynamic performance of the motor control system,which accelarates motor responds and restrains overshoots. For the step external disturbance, the system speed only shows a pulse fluctuation with a width of O. 1 s, and the amplitude is one half of that of PID controller. Besides, the control system is robust towards the uncertainty of the motor model. These results show that the method has magnificent effects and good applications and is very suitable for engineering.