基于前馈PI伺服转台系统的研究与应用

Research and Application of Servo Turntable System Based on Feed Forward PI

为了提高转台伺服系统的控制精度,针对传统PI控制策略存在的不足,提出一种基于前馈补偿和PI相结合的复合控制策略。首先根据转台伺服系统建立了电机对应的MATLAB模型;然后根据前馈补偿和PI控制原理,建立了前馈PI控制器,并建立了基于前馈PI控制的软硬件系统试验平台;最后进行了仿真和试验验证;仿真和试验结果表明,基于PI前馈控制的转台伺服系统与PI控制的转台伺服系统相比较,其系统的定位精度更高,鲁棒性更好。

In order to improve the control accuracy of turntable servo system,a combination control strategy based on feedforward compensation and PI was proposed aiming at the insufficiency of traditional PI control strategy.Firstly,a MATLAB model corresponding to the motor should be established according to the turntable servo system.Then,based on the principle of feedforward compensation and PI control,a feedforward PI controller was established and an experimental platform with hardware and software system was established based on feedforward PI control.Finally,it needed simulation and experimental verification.Simulation and experimental results show that the turntable servo system based on PI feedforward control system has higher positioning accuracy and better robustness than turntable servo system with PI control.