基于自抗扰的非最小相位伺服系统控制

Control of Non-Minimum Phase Servo System Based on Auto Disturbance Rejection

非最小相位系统具有控制稳定性差、不容易控制的特点。文中证明了具有不平衡力矩正反馈的伺服系统是一种非最小相位系统,介绍了自抗扰控制算法以及自抗扰控制器的各个参数的设计和选择原则。提出将不平衡力矩看成系统的扰动,并利用自抗扰控制器能够对系统中的扰动进行很好估计和补偿的特点,采用自抗扰控制算法实现了对该类非最小相位系统的仿真和设计。通过在硬件平台中编程实现设计的算法,完成对系统的控制。从实测数据得到的控制效果显示,非最小相位系统控制中的负调响应已消除,且阶跃响应快速,达到了较好的控制性能。

Non-minimum phase system has the characteristic of poor control stability and is difficult to control. In this paper, it is proved that the servo system which has a positive feedback of unbalance torque is a kind of non-minimum phase system. The auto disturbance rejection control algorithms as well as the design and selection principle for each parameter are introduced. It is proposed that the unbalance torque is treated as disturbance, and the auto disturbance rejection controller is good at estimating and compensating disturb- ances. By using the auto disturbance rejection control algorithms, simulating and designing of such kind of non-minimum phase system can be realized. By programming and implementing the designed control algo- rithm in hardware platform, the system is controlled. From the actual control result obtained from the meas- ured data shows that negative response of non-minimum phase system can be removed, a quick step response and good control performance are achieved.