转台伺服系统扰动估计与补偿控制

Disturbance Estimation and Compensation Control for Turntable Servo System

针对转台伺服系统负载转矩和系统参数变化大的特点,建立了伺服系统状态方程,设计了基于非线性PID控制器和非线性扩张状态观测器的系统模型。基于观测器估计系统输出角度、角速度及系统未知扰动,并用估计的系统未建模动态和未知外扰对系统进行补偿。仿真结果表明:基于该方法的补偿控制能提高转台伺服系统跟踪精度,在负载转矩变化大和较强外界干扰条件下系统具有良好的控制效果。

Aimed at the turntable servo system with large load torque variation and parameter variation,the servo system state equations were established. System model based on nonlinear proportion integration and differential（ PID） controller and extended state observer was designed. Output angle,angle velocity and uncertain disturbance of the system were estimated by the observer,meanwhile dynamic modeling state and uncertain disturbance of the estimated system were used to compensate the servo system. The simulation results indicate that tracking precision of turntable servo system is improved by compensation control of this method,and the system has good control effect under condition of large load variation with outside strong disturbance.