基于LQR指标的直线伺服系统最优PID控制器设计  

Design of Optimal PID Controller for Linear Servo System Based on LQR Approach

作　　者：黄世涛[1] 冯之敬[1] 

机构地区：[1]清华大学精密仪器与机械学系,北京100084

出　　处：《制造技术与机床》2006年第10期33-35,共3页Manufacturing Technology & Machine Tool

摘　　要：由音圈电动机驱动的直线伺服系统是实现非圆截面类零件数控车削加工的关键。基于二次型性能指标(LQR)设计了直线伺服系统的最优PID控制器。首先给出了直线伺服系统的双闭环PID控制结构,其次研究了基于二次型性能指标的数字PID参数最优整定方法,最后通过仿真实验验证了该控制方法的有效性。Linear servo system driven by voice coil motor （VCM） is the key to realize CNC turning for workpieces with noncircular profile. In this paper, an optimal PID controller for linear servo system is designed based on the approach of linear quadratic regulator （ LQR）. Firstly, the double close - loop PID con- troller is proposed for linear servo device. Secondly, the optimal PID parameter tuning method is presented based on linear quadratic performance index. The simulation results show the effectiveness of the proposed control scheme.

关 键 词：PID控制 最优控制 直线伺服系统 非圆加工 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]