机电伺服系统重复学习控制器设计

A-Type ILC P Controller Design of Electromechanical Servo System

设计了一种p+A-Type ILC位置环重复学习控制器,并成功应用于某一需求高速高精度实时控制的机电伺服系统中,伺服控制技术采用经典的基于转子磁场定向的矢量控制技术,速度环控制器和电流环控制器采用经典的PI控制器,位置环采用p+A-Type ILC控制器,其中p控制器用于随机干扰的抑制,AType ILC用于伺服作动器重复往返运动以及固有的偏心质量等时变非线性负载的负载惯量和有规律干扰的补偿,并进行了与经典P位置控制器的对比试验验证。实验结果表明:采用本项目的控制器使得位置超调比采用P控制系统降低了50%,实现了高速高精度的实时控制,满足了伺服系统时变非线性负载下的不同工况需求,系统鲁棒性大大提高。

In order to achieve the fast response and high precision performance of electromechanical servo system,a new p + A-Type ILC position regulator is designed. The electromechanical servo system adopts novel vector control algorithm based on Rotor flux orientation and three closed loops including position loop,speed loop and current loop. Both the speed loop and current loop adopt PI controller,and the position loop adopts p + A-Type ILC controller including P controller and A-Type ILC controller,P controller is used to strengthened the inhibition capability of the system against random interference signal. A-Type ILC controller is used to do servo system Reciprocating movement inertia and changing load torque and Regular interference compensation. Finally,the experimental results between the Basic P Controller and p + A-Type ILC controller are compared. Experimental results show that overshoot of the algorithm proposed is 50 percent less than the traditional P controller,the designed servo system has realized fast response and high precision real time control and good system robustness.