一种抑制共振模态影响的伺服系统控制器设计新方法

A New Controller Design Approach for Resonance Modes Suppression of Servo System

伺服控制系统的控制性能会受到机械共振的影响,导致实际应用时控制器参数需要进行额外的调整。为了提高PID参数设计的准确性,减小共振模态对控制系统的影响,在设计伺服系统位置环控制器前,建立共振模态的数学模型,并将共振模态看成伺服系统位置环被控对象的一部分。然后,根据已包含了共振模态的被控对象的数学模型来设计伺服系统的二自由度控制器,其中前馈控制器通过不变性原理设计,反馈控制器通过提出的五阶极点配置的方法进行设计。结果表明:提出的伺服系统设计新方法能够有效提高控制系统的性能,减小机械共振的影响。因此,对于已知共振模态的伺服控制系统,该设计方法得到的控制器参数更加适用,能有效减小实际调试的难度。

The performance of servo control system is limited by mechanical resonance,so the engineers need to readjust the controller parameters in practical application.To improve the accuracy of PID parameters,the mathematical model of resonance mode was established before the controller of position loop of servo system was designed,and the resonance mode was regarded as a part of the controlled object of position loop of servo system.Secondly,a two-degree-of-freedom controller for the servo system was designed according to the mathematical model of the controlled object including the resonant mode.The feedforward controller was designed by invariance principle,and the feedback controller was designed by the proposed five-order pole assignment method.Finally,the proposed new servo system design method was simulated.The simulation results prove the effectiveness of the proposed method.