摘要
研究了皮带轮伺服系统频域建模与时变扰动控制的问题。为了更加准确地得到皮带轮伺服系统的二质量系统模型,设计了基于迭代的加权最小二乘算法来辨识皮带轮伺服系统的频域模型。该算法能使辨识出的模型与真实系统的幅频响应、相频响应误差在迭代过程中收敛到最小,进而使辨识模型最接近真实系统。由于实际运行中非线性摩擦及未知负载等时变扰动的存在,使得传统的控制方法难以达到满意的性能。提出了PDD状态反馈控制和GPI前馈补偿的复合控制方案。仿真和实验表明,该辨识算法能较准确地辨识出系统模型,用GPI观测器来估计扰动并进行前馈补偿能精确抵消多项式形式的扰动,对正弦扰动也有很好地抑制作用。
In this paper,the problem of frequency domain modeling and control for time-dependent disturbance of pulley servo system is studied.In order to obtain a more accurate two-inertia system model of the servo system with pulley belt.So,this paper proposes an algorithm based on the iterative weighted least squares method to identify the model of servo system with belt pulley in frequency domain.This paper presents a composite control scheme which is combined PDD feedback control with GPI observation of feedforward compensation.
出处
《工业控制计算机》
2017年第7期23-26,共4页
Industrial Control Computer
基金
国家自然科学基金资助,项目批准号(61473080)
关键词
皮带轮伺服系统
频域建模
迭代的加权最小二乘算法
GPI观测器
servo system with pulley belt
frequency domain model
Iterative weighted least squares algorithm
Generalized proportional integral observer
