基于粒子滤波前馈补偿的电机伺服系统控制  

Design of Feedforward Compensation for Motor Servo System Control Based on Particle Filter

作　　者：胡明慧[1] 王永山[2] 邵惠鹤[1] 

机构地区：[1]上海交通大学电子信息与电气工程学院,上海市闵行区200240 [2]同济大学机械工程学院,上海市杨浦区200092

出　　处：《中国电机工程学报》2007年第27期99-103,共5页Proceedings of the CSEE

基　　金：国家自然科学基金项目(60504033)。~~

摘　　要：针对电机轨迹跟踪过程的非线性非高斯噪声,提出采用基于粒子滤波的前馈控制器。同时对电机伺服系统提出一种二自由度控制结构,基于闭环系统的鲁棒最优性能指标,设计给定值状态目标跟踪控制器,根据系统稳态运行时的抗扰动要求,在过程输入和控制对象输入之间设计前馈控制器、在对象输入和输出端之间设计负载干扰抑制闭环,利用粒子滤波的方法消除非高斯噪声对控制系统的干扰。仿真实例验证了该控制系统的可行性和优越性,可以有效提高电机轨迹跟踪精度。A new feedforward controller of particle filter is proposed for the nonlinear non-Guassian filter problem in the motor tracking process. A two-degree-of-freedom control structure is designed for motor servo system. The setpoint tracking controller is designed in terms of the robust optimal performance objective. Then according to the load disturbance rejection requirement during the system steady operation, a feedforward controller is configured between the process input and plant input, adopting the closed-loop for disturbance rejection between the plant input and output, of which the particle filter in the feedforward channel is utilized for rejecting the non-Guassian disturbance. The results of simulation examples demonstrate the validity and superiority of the proposed control structure. The tracking precision of motor can be effectively improved by the scheme.

关 键 词：伺服系统 粒子滤波 二自由度 前馈控制 阶跃响应 

分 类 号：TP302[自动化与计算机技术—计算机系统结构]