摆动电机的迭代预测及PID控制分析与比较

Analysis and Comparison of Iterative Predictive Control and PID Control of Swing Motor

提出一种基于迭代预测算法的新型位置控制器,提高了摆动电机扫描伺服系统中的位置控制性能。在周期性运动系统中,预测迭代控制能够提高伺服系统的跟随性能。仿真和实验结果表明:该控制器与传统PID控制器相比,正向扫描过程线性度和准确性较高,消除了正向扫描开始处的小幅波动,增加了扫描系统可用的线性匀速扫描段。

A new position controller based on iterative predictive control algorithm was developed to im- prove position control in scanning servo systems of swing motors. The iterative predictive control algorithm in repetitive control can improve the tracking accuracy of servo system. Simulations and experimental results show that the position controller eliminate the fluctuations in the beginning of positive scanning process, gives more accurate position control results in the positive scanning process than traditional PID controller.