随动系统结构无静差补偿器的设计

The Design of Compensators without Static Structural Error for a Servosystem

为使随动系统具有良好的跟踪特性和很强的鲁棒性,本文以自整角机位置随动系统为对象,以内模原理为依据,采用一种较简单实用的闭环主导极点设计方法,给出一种串联补偿和局部反馈补偿相结合的控制器,并用Z-80微处理器给以实现,构成一个微机闭环控制系统.1 补偿器设计原则设被控对象传递函议为G_0(s)=m_0(s)/n_0(s)。

The compensators of a servosystem without static structural error are designed using the internal model principle and the closed-loop-dominated pair of complex poles method. The design procedures are given. The servo-system using the compensators gives expected transient response and expected steady-state performance. It also has satisfactory tracking ability and robustness. The aftereffect of some nonlinearity existing in the servosystem has been overcome.