多模态控制在步进电机位置伺服系统中的应用研究

Application and Research of Multi-modal Control in Stepper Motor Position Servo System

针对步进电机伺服系统的响应速度慢、稳态误差低的问题,提出了一种多模态控制策略;根据误差大小调节两种控制策略对被控对象的作用权值,使最终的控制量连续输出,实现控制策略无扰动、平滑的切换;半实物仿真实验结果表明,该控制策略较好地综合了模糊控制和模糊PID控制的优势,系统反应速度快,震荡小,抗干扰能力强,同时一定程度上改善了低频振荡和高频失步的问题,具有实际应用价值。

For the problem of slow response and low steady state error of the servo system of stepping motor, a multi-modal control strategy is proposed. According to the error, adjust the function weight of the two control strategies for the controlled object, to make the fi- nal control continuous, and the switching undisturbed and smooth of control policy. The semi-physics simulation results show that the control strategy combines the advantages of fuzzy control and fuzzy PID control and the system has fast response, small shock, strong anti-interference ability, at the same time, the problem of low frequency oscillation and high frequency out of step is improved to a certain extent, so it has practical application value.