基于小脑模型和干扰观测器的交流伺服系统控制算法研究

AC Servo System's Control Algorithm Based on CMAC and Disturbance Observer

伺服系统在实际运行时会受到摩擦、齿隙、高频谐振等各种形式的干扰,严重影响伺服系统的性能表现,传统的PID控制器很难获得满意的控制效果。结合常规PID控制和CMAC神经网络的优点,设计了CMAC+PID复合控制器,并将其用作交流伺服系统的位置控制器。设计了干扰观测器用于抑制伺服系统受到的位置干扰。仿真结果表明所设计的CMAC+PID复合控制器可以增强系统的快速性,减小系统的稳态误差;所设计的干扰观测器可以有效抑制外部扰动,增强系统的抗扰动能力。

In this paper,combining with the advantages of common PID and CMAC neural network,the CMAC＋PID compound controller is designed and used as position controller of AC servo system.The disturbance observer is designed to suppress servo system＇s interference.The results of simulation prove that the CMAC＋PID compound controller can enhance servo system＇s rapidity and reduce the steady state error.