机电伺服系统的预测函数控制算法研究

Studies of Predictive Functional Control Arithmetic in Electromechanical Servo System

针对典型机电伺服系统,提出了一种PFC PID串级透明控制策略,通过内环PID控制来提高抗干扰性,调节PID参数将其拟合成为一阶加纯滞后系统,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。详细分析了预测函数控制在具有参数饱和限制环节和滞后的机电伺服系统中的实施算法,分析了系统的闭环性能,并得到了其稳定鲁棒性条件。通过仿真验证了方法具有良好的鲁棒性和抗干扰能力。

PFC-PID cascade transparent control strategy is presented with actions of typical electromechanical servo system. The random disturbance is surpassed in inner-loop with PID control, and the internal loop is the generalized control plant of the external PFC loop. The inner model of PID is the first-order plus the dead-time model which is gained by matching generalized control plant. The paper analyses the implementary arithmetic in the servo system with saturation and lag segment, and analyses the performance of the close loop to obtain the condition of stability and robustness. The simulation results show that the new PFC-PID control method is of robustness and the ability to suppress disturbance.