摘要
针对随动系统中参考轨迹不确定的特点,设计了带目标运动补偿的自抗扰轨迹跟踪控制器。利用高阶跟踪微分器,进行等效扰动补偿以及超前预测补偿。比较分析了引入目标运动补偿前后自抗扰控制对运动轨迹的跟踪效果。仿真结果表明,引入目标运动补偿后可有效提高随动系统轨迹跟踪的精度。
In the servo system,reference trajectory is variable.This paper designs an active disturbance rejection trajectory tracking controller with target motion compensation.A high order tracking differentiator is used to implement equivalent disturbance compensation and advance prediction compensation.The tracking effect on motion trajectory is analyzed by the active disturbance rejection controller before and after the target motion compensation.
出处
《工业控制计算机》
2017年第7期48-49,67,共3页
Industrial Control Computer
关键词
自抗扰控制
高阶微分器
运动补偿
轨迹跟踪
Active disturbance rejection control
high order differentiator
motion compensation
trajectory tracking
