位置伺服系统的分数阶二自由度内模控制

Fractional Order Two Degree of Freedom Internal Model Control of Position Servo System

为了实现高精度的位置随动伺服控制,针对位置伺服系统,提出了一种分数阶二自由度内模PID控制方法。将传统二自由度内模PID控制器中的低通滤波器采用分数阶结构设计,给出了二自由度内模分数阶（PID）γ控制器的设计方法。分析了过程模型在乘性不确定情况下系统的鲁棒稳定性,并对控制器参数进行了鲁棒整定。仿真结果表明,所提出的方法不仅可以使位置伺服系统具有较好的目标值跟踪性能,而且对负载扰动和参数摄动具有很强的鲁棒性。

In order to realize high precision position servo control, a method of fractional order two degree of freedom internal model PID control is proposed for position servo system. Design method of the two degree of freedom internal model fractional order （PID）γ controller is given by using fractional order structure design in the low pass filter of the traditional two degree of freedom internal model PID controller. The robust stability of the system is analyzed when the process model is multiplicative uncertainty. Moreover, the parameters of controller are robust tuned. The simulation results show that the proposed method can make the system have good tracking performance and strong robustness to load disturbance and parameters perturbation.