基于自抗扰控制器的转台伺服系统位置控制研究

Research on Position Control of Turntable Servo System Based on Active Disturbance Rejection Control

针对转台伺服系统具有非线性和参数时变性特点,提出一种基于自抗扰控制器的位置控制方法。首先,建立转台伺服系统的数学模型,将转速控制等效为一阶惯性环节,得到简化后的系统传递函数模型。其次,设计自抗扰控制器,研究二阶跟踪微分器、扩张状态观测器和误差反馈控制律。最后,在MATLAB/Simulink和CODESYS中完成自抗扰控制算法的仿真研究,并在实验平台进行验证。实验结果表明,与PID控制器相比,基于自抗扰控制器的转台伺服系统位置跟踪精度高、动态响应速度快、鲁棒性好。

A position control method based on active disturbance rejection control is proposed to address the nonlinear and time-varying characteristics of the turntable servo system.Firstly,this paper establishes a mathematical model of the turntable servo system,and simplify the system transfer function model by equating the speed control to a first-order inertial link.Secondly,it designs an active disturbance rejection controller,studies second-order tracking differentiator,extended state observer,and error feedback control law.Finally,simulation research on the active disturbance rejection control algorithm is completed in MATLAB/Simulink and CODESYS,and verified on an experimental platform.The experimental results show that compared with PID controllers,the turntable servo system based on active disturbance rejection control has high position tracking accuracy,fast dynamic response speed,and good robustness.