一种新的抗饱和控制器研究与设计  

Design of New Controller with Anti-Saturation

作　　者：孙秀丽[1] 方敏[1] 陈杰[2] 

机构地区：[1]济南大学控制科学与工程学院,济南250022 [2]东营职业学院自动化系,东营257091

出　　处：《南京航空航天大学学报》2006年第B07期147-150,共4页Journal of Nanjing University of Aeronautics & Astronautics

摘　　要：首先忽略执行器的饱和,设计了能够满足系统性能要求的线性控制,然后设计了饱和补偿器降低饱和的影响,线性控制器使系统有较小的阻尼率以提高响应的快速性;当输出达到设定值时,非线性控制器使系统有较大阻尼率以降低超调量。线性控制器与非线性控制器合成总控制器,结合PID技术,能够实现高精度艰踪控制。本方法设计的控制器应用于伺服跟踪系统,仿真结果表明该方法是有效的。A new design method is proposed, which is to first ignore actuator saturation. A linear controller is designed to meet the performance specifications, and an anti-windup compensator is designed to weaken the influence of saturation. The linear part makes the closed-loop system with a small damping for quick response; the nonlinear part increases the damping of the close-loop system and reduces the overshoot. The composite controller composed of the linear part and the nonlinear part and PID controller ensure the closed-loop sysem to meet high-precision tracking need. The controller designed with the method can be applied to an actual servo system. Experimental results prove the effectiveness of the method.

关 键 词：输入饱和 非线性控制 PID控制 伺服系统 

分 类 号：TP214.2[自动化与计算机技术—检测技术与自动化装置]