伺服系统的鲁棒优化控制设计方法  

A robust and optimal design for servo system

作　　者：陈一秀[1] 王永初[1] 

机构地区：[1]华侨大学机电及自动化学院,福建泉州362011

出　　处：《组合机床与自动化加工技术》2004年第7期77-78,80,共3页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：对伺服系统采用状态反馈控制方式 ,应用内模原理 ,引入伺服补偿器 ,通过合理配置闭环极点 ,确定状态反馈矩阵和观测器矩阵。与常规的PID控制相比较 ,仿真结果表明该系统具有较强的鲁棒性和控制品质 ,可获得比PID控制方法更好的控制效果 ,是一种有效的控制方法。The state feedback control is used for servo system. In order to improve the robustness of the system, a servo-compensator is also designed with internal model principle. Then poles of closed-loop are rationally selected and a expected closed-loop state equation is obtained to correct state controller and state observer. Compared with the method of PID control, the simulation results show the system has higher robustness and better characteristic and the method is quite effective.

关 键 词：伺服补偿器 极点配置 状态反馈 干扰抑制 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TM921.54[自动化与计算机技术—控制科学与工程]