滞后补偿调节器参数设计

Parameter Design of Lag Compensation Regulator

为了解决转台伺服系统设计时速度及加速度滞后补偿环节调节器参数的选定难题,提出一种确定滞后补偿调节器参数的方法。首先,根据滞后补偿原理确定了调节器的模型及其参数取值范围。其次,用穷举法获取了能够保证系统稳定的多组滞后补偿参数。然后,利用MATLAB软件允许在线修改simulink仿真参数的特点编写M文件,逐一计算每组参数对应的跟踪精度,从中确定了最优参数组。最后,验证了应用所选最优参数组时转台的跟踪精度。实验结果表明:应用新方法所设计的滞后补偿调节器时转台的跟踪精度为14.39",完全满足系统精度要求。

In order to solve the problem that it is difficult to choose the parameters of the regulator for lag com-pensation of velocity and acceleration during the design of turret servo system, a method to confirm the parametersof the regulator is proposed. According to lag compensation principle, the model and its parameter range of the regu-lator are confirmed at first. And then, several groups of lag compensation parameters keeping the stability of the sys-tem are obtained through the method of exhaustion. Then M-file is written by MATLAB with the feature of simulinksimulation parameters being modified on-line. The best group of parameter is determined through calculating one byone the tracking accuracy corresponding to each group of parameter. The tracking accuracy of the turret choosingthe best group of parameter is proved finally. Experimental results show that the tracking accuracy of the turret us-ing the lag compensation regulator with new design method is 14.39＂and the accuracy requirement of the system ismet completely.