摘要
低速位置伺服系统中的非线性摩擦力、参数摄动以及外部扰动等因素都会降低系统的精度.本文对无刷直流电机低速位置伺服控制方法进行了研究.简要介绍了自抗扰控制器,利用Stribeck摩擦模型和二阶自抗扰控制器构建位置伺服系统并确定控制器参数,最后与PD控制和滑模控制进行比较仿真实验.实验结果表明,基于自抗扰控制的低速位置伺服系统具有较好的动态和稳态性能,对系统内部参数摄动和外部扰动以及非线性摩擦都具有很强的鲁棒性.
The phenomenon of nonlinear friction, disturbance and perturbation of the system, will have bad influence on precision. The control method for the position servo system with low speed was studied. First the ADRC （active disturbance rejection control） was introduced. The control system was developed based on the Stribeck friction model and ADRC, and the means for adjusting the parameters of the controller were given in succession. Some simulation results were given compared with the PD control and Sliding model control. These results show that the controller ensures good dynamic and static characteristics, and very good robustness under inner perturbation and external disturbance with nonlinear friction considered.
出处
《山东大学学报（工学版）》
CAS
北大核心
2009年第6期48-52,共5页
Journal of Shandong University（Engineering Science）
基金
国家"863"计划基金资助项目(2007AA042206)
山东省优秀中青年科学家科研奖励基金项目(2008BS05003)
中国博士后科学基金项目(20080431189)
山东省教育厅科技计划项目(J07WA10)
山东省教育厅高等学校优秀青年教师国内访问学者项目
关键词
自抗扰控制
位置伺服
Stribeck摩擦模型
active disturbance rejection control（ADRC）
position servo system
Stribeck friction model
