交流伺服系统自抗扰内模控制

ADRC and Internal Model Control for AC Servo System

针对火箭炮伺服系统存在比较大的不确定性及外部干扰,本文提出了一种高精度自抗扰内模控制方法,即针对电流环采用内模控制器,克服传统内模控制对电机参数敏感的问题,而速度环采用自抗扰控制器,提高系统对外部负载扰动抑制能力,以期获得良好的跟踪性能及强鲁棒性。最后通过仿真验证系统具有强鲁棒性和良好的跟踪性能,证实了该方法的有效性。

Aimed at fairly big uncertainty and outer disturbance existing in servo system of rocket launcher, a high precision ADRC-IMC is put forward. That is to say, IMC is adapted in current loop to overcome sensitivity to motor parameters encountered in traditional IMC. While, ADRC is adapted in speed loop in order to resist outer load disturbance to obtain good tracking performance and strong robustness. In the end, strong robustness and good tracking performance of the system are validated by simulation test.