基于扫频的伺服控制系统自适应调节

Adaptive Adjustment of Servo Control System Based on Sweep Frequency

传统的PID控制存在参数难调、动态性能较差、动态响应较慢等不足。因此,需要寻求一种新的控制策略,改善动态性能,满足外部环境自适应要求,以提高伺服控制系统动态性能。在本文研究的伺服控制系统自适应调节基础上引入扫频算法,该算法通过频率扫描进行参数在线识别,识别结果根据自适应稳定性要求建立电机控制参数。通过这种方式,可以方便调试任何不同的伺服控制系统,让系统具有很好的动态性能。实验结果表明,提出的自适应控制较PID控制能达到很好的位置伺服效果,且整个系统具有更好的鲁棒性。

Traditional PID control has some shortcomings such as parameter adjustment difficultly,poor dynamic performance and slow dynamic response.In order to get servo control system with better dynamic performance to meet the adaptive requirements to the external environment,a strategy of adaptive control based on sweep frequency is put forward in this thesis.According to this strategy,control parameter of the motor is obtained through sweep frequency online.By this way,better dynamic performance of the system can be achieved and any type of servo control system can easily go through trial runs.According to experiment,position servo effect can be effectively achieved by the adaptive strategy control compared with PID control.Moreover,the whole system has better robustness.