基于等价输入干扰补偿的直流电机定位控制  

Positioning control of DC motor based on compensation of equivalent-input-disturbance

作　　者：方明星[1,2] 吴敏[1] 佘锦华[3] 

机构地区：[1]中南大学信息科学与工程学院 [2]安徽师范大学物理与电子信息学院 [3]东京工科大学计算机科学学部

出　　处：《仪器仪表学报》2009年第9期1801-1807,共7页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(60674016);国家杰出青年科学基金(60425310)资助项目

摘　　要：针对直流电机的高精度定位控制问题,引入等价输入干扰的设计思想设计控制器.该设计方法通过推测一个等价输入干扰,以消除各种扰动对系统输出产生的影响,实现对给定位置指令的高精度定位跟踪.在基于等价输入干扰补偿的控制系统中,采用分离定理将系统分成状态反馈子系统和由状态观测器与低通滤波器构成的子系统两部分进行单独设计,其中的状态观测器与低通滤波器子系统应用了完全调节方法进行设计.仿真和实验结果表明这种方法对于抑制干扰、实现高精度定位的有效性。Combining with compensation of equivalent-input-disturbance, a controller is proposed for high-precision positioning control of DC motor system. In this controller, an equivalent input disturbance is predicted to reject disturbances added to the system and to guarantee high-precision positioning tracking of the given trajectory. In the control system configuration, the system can be separated into a state feedback subsystem and another subsystem that consists of a state observer and a low-pass filter according to separation theorem. Both of these two subsystems can be designed independently. The subsystem of state observer and low-pass filter is designed by employing the concept of perfect regulation. Simulation and experimental results demonstrate the validity of the method in rejecting disturbances and guaranteeing high-precision positioning control.

关 键 词：精确定位 直流电机 等价输入干扰 抗干扰 分离定理 完全调节 

分 类 号：TP341[自动化与计算机技术—计算机系统结构]