极-零点配置自校正的工程实用算法与应用

PRACTICAL ENGINEERING ALGORITHM OF POLE-ZERO PLACEMENT SELF-TUNING AND ITS APPLICATION

极-零点配置自校正在实际应用中的主要困难是共计算量大,影响系统的采样频率。本文基于极-零点配置原理,建立起一种组合递推自校正算法,在保持原控制特性的同时,使计算大大简化,有利于捉高采样频率,实现快速运动伺服系统的不同处理方法。文章分别讨沦了确定性系统与受干扰系统的不同处理方法并给出这种算法在电液位置伺服系统上的应用实例.

The main problem existing in the practical applications of the pole-zero placement self-tuning liesin the heavy calculation which limits the sampling frequency of the systems.In this paper,on the basis ofthe pole-zero placement principle,a combined recursive self-tuning algorithm is proposed.Thisalgorithm,while retaining the original control characteristics,has greatly decreased its calculation task,and helps to raise the sampling frequency of the systems so to realize the adaptive control of the fast mov-ing scrvo systems.Different approaches to the deterministic system and stochastic system are discussed,and the application of the algorithm on an electrohydraulic servo system is presented in the paper.