轨迹已知类伺服系统运动控制的工程实现

The engineering realization of motion control in servo system of known trajectory sort

针对轨迹已知类伺服系统的运动控制的特点 ,提出了一种PFC -PID串级透明控制的工程实现 ,通过内环PID控制来提高抗干扰性 ,内环作为外环PFC控制的广义对象 ,外环采用预测函数控制来获得良好的跟踪性能和强鲁棒性。分析了预测函数控制在具有参数饱和限制环节的伺服系统中的实施算法。并通过仿真比较该算法与PID前馈控制的效果 ,验证其具有良好的跟踪性能、鲁棒性和抗干扰能力。

PFC-PID cascade transparent control stragety is presented with actions of motion control in servo system of trajectory known sort . The random disturbance is surpassed in the inner-loop with PID control , and the internal loop is the generalized control object of external PFC loop . The capability of tracking and robustness is acquired by predictive functional control of the external-loop. The paper analyses the implemented algorithm of the predictive functional control in servo system with tache of restrictive saturated parameters. The simulation results show that the new PFC-PID control method has better tracking performance, robustness and anti-disturbance ability than those of feed-forword PID control.