伺服系统变增益速度控制策略研究

Research on Variable Gain Speed Control Strategy of Servo System

固有周期性负载扰动的存在,会影响伺服系统速度控制性能,针对这一问题设计研究了一种变增益速度控制策略,用以改善系统的抗扰动特性;同时针对物理限幅对PI控制器所产生的饱和问题,采用积分预测的算法进行抗饱和处理。实验结果表明,所设计研究的控制方法简单、易行,系统不仅具有较强的抗扰动特性,同时具有较好的动态响应性能。

The existence of inherent periodic load disturbance will affect the speed control performance of servosystem. To address this issue,a variable gain control strategy was designed to improve the anti . disturbancecharacteristic of the system. At the same time,to solve the saturation problem caused by the physical output limit of PIcontroller,an integral state prediction algorithm was applied to achieve the anti.windup purpose. experiment resultsverify the strategy is simple and reasonable,which shows not only anti.disturbance characteristics,but also gooddynamic performance.