摘要
针对带有常量干扰和具有输入饱和约束的直流电机模型,本文通过设计鲁棒组合非线性反馈控制器,来提高电机速度控制的快速性和精确度。基本思想是在组合非线性反馈(Composite Nonlinear Feedback(CNF))控制的基础上加入干扰估计项和补偿项,在消除系统由于干扰产生的稳态误差的同时,保证了原组合非线性反馈控制响应快速及超调小的瞬态性能。
To achieve fast and accurate set-point tracking of DC motor with constant disturbance and input saturation constraint, in this paper, we design a robust composite nonlinear feedback controller. The basic idea is to add disturbance estimation and compensation into the framework of the original CNF control to eliminate the steady-state bias due to disturbances, and therefore this system retains the fast transient performance of the original CNF control.
出处
《自动化博览》
2010年第5期88-90,104,共4页
Automation Panorama1
关键词
干扰
补偿
非线性
伺服电机
鲁棒组合非线性反馈
Disturbance
Compensation
Nonlinear
Servo systems
Robust composite nonlinear feedback
