一种提高伺服控制系统性能的设计方法

A Method for Improving the Performance of Servo Control System

伺服系统往往存在非线性和不确定因素,影响系统的精度,其工作过程是时变的,且经常存在非线性扰动,常规控制器很难满足大范围高精度的控制需求。针对伺服系统的大范围高精度控制问题,将线性自抗扰控制器应用于伺服控制系统设计。分析了对象模型,给出了控制器设计过程和结果,在Matlab Sinulink进行了仿真实验,Quanser半实物仿真平台进行实际运行验证。结果显示该算法具有比PID控制算法更好的鲁棒性,且控制器设计简单,对高性能伺服系统的设计提供参考。

The servo system usually contains nonlinear and uncertain factors which affect the precision of the system. Its working process is time-varying,and often existing nonlinear perturbations. Conventional controllers are difficult to meet the requirements of large-scale and high-precision control. In order to solve the problems,developed a linear active disturbance rejection controller（LADRC） for servo control system. The object model is analyzed,and the controller design process and results are given. With the help of MATLAB/Simulink carried on Simulations and conducted actual operation on Quanser semi-physical simulation platform. The results indicate that the proposed algorithm possess better robustness than PID,and the controller is simple to design,thus providing a reference for the design of high performance servo system.