一种机电位置伺服系统的抑扰控制策略及其实现

A Disturbance Suppression Control Strategy and Its Realization for an Electromechanical Position Servo System

针对某型电机试验设备的三坐标自动定位安装系统存在较严重扰动的问题,探讨了相应的抑扰控制方法。首先建立了内扰因素复杂且重力荷载外扰显著的Z轴升降系统的动力学模型,在此基础上构建了一个交流伺服驱动的全闭环机电位置伺服系统,以初步达到消除系统各种环内扰动影响的目的。为了进一步提高系统的抗扰能力,在全闭环控制系统的位置外环控制器中引入先进的自抗扰控制器(ADRC)算法。基于该全闭环位置伺服系统进行Matlab/Simulink仿真实验,对位置环采用ADRC调节与PID调节的抗扰效果进行了比对分析,结果显示在恒定负载外扰下的位置跟踪性能及电气阻抗内扰下的位置保持性能ADRC控制优于PID控制。最后在试验设备上完成了相应的测试实验,对仿真结果作出了进一步的验证。

The disturbance-suppression methods are discussed for solving the severe disturbance from theautomatic three-coordinate positioning and installation system of a certain type of motor test equipment. Firstly, akinetic model of the Z-axis lifting system with complicated internal disturbance factors and significant externalload is established, and then an AC driven full closed-loop electromechanical position servo system is establishedto prevent the initial impact of various closed-loop internal disturbances. In order to further improve the system’santi-disturbance abilities, the advanced active-disturbances rejection controller （ADRC） is introduced in thepositional loop controller of the fully closed-loop control system. A MATLAB/Simulink simulation test was carriedout based on this full closed-loop position servo system and a contrast analysis was made between the disturbanceresistance effects of ADRC control and PID control for the position loop. The results show that for the positiontracking performance under the external disturbance of a constant load and the position holding performance underthe internal disturbance of electrical impedance, the ADRC control is better than the PID control. Finally, thecorresponding tests were completed using the test equipment, and the simulation results were further verified.