二次SISO线性系统的无超调阶跃响应补偿器设计

Compensator design for nonovershooting step-response of 2-order linear system

高性能伺服系统要求在阶跃响应过程中无调超现象 ,阶跃响应超调与系统零 /极点结构有关 ,通过使用适当的补偿器能有效消除超调现象 .作者对非严格正二次SISO线性系统阶跃响应特性进行了研究 ,并阐述了实现无超调现象的充要条件 ,对无超调阶跃响应补偿器设计进行了探讨 ,给出了补偿器参数设计取值 .仿真结果表明 ,该补偿器简单有效 。

High quality servosystems require that the step response of a process displays no extrema. The pole/zero configuration characterizes the overshooting step response. The application of proper compensator is a practical method to eliminate extrema. This paper deals with the step response performance of a nonstrictly proper 2 order SISO linear system. We present the necessary and sufficient conditions for nonovershooting phenomena. The design of compensator for the system with overshoot is analysed, and the parameterization of the compensator is also given.The simulation proves that the compensator is simple and effective. The compensator can be widely used in robot control and other regions.