交流伺服直线位移平台高速定位控制  

High-speed positioning control for beeline displacement platform

作　　者：蔡一[1] 郝双晖[1] 郑伟峰[1] 郝明晖[1] 宋宝玉[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《机械设计与制造》2010年第6期88-90,共3页Machinery Design & Manufacture

基　　金：863计划专题课题(2006AA04Z231)

摘　　要：对直线位移平台的高速定位控制中,采用传统PID控制和低通滤波处理方法很难同时获得良好的指令跟踪特性和抗干扰性能。针对此不足,在建立了交流伺服电机控制模型的基础上,根据交流伺服硬件系统设计了三闭环PID控制结构。同时,为提高高速定位控制性能,设计出前馈控制和二自由度控制结构,并与传统PID控制进行了对比仿真,结果表明这种控制方法可以有效提高系统的指令跟踪特性和抗干扰性能。最后,设计了试验系统,对直线位移平台进行了高速定位控制试验,验证了此方法具有良好的控制性能。In the high-speed positioning control of the beeline displacement platform,by using the methods of traditional PID and low-pass filter,it is hard to achieve the nicer instruction track character and anti-jamming performance simultaneously.To meet the deficiency,based on the control model of the Ac servo motor,a three-closed-loop PID control structure is designed according to the hardware system of the AC servo.To improve the high-speed positioning performance,feedforward and two-degree-of-freedom control structure is designed and compared with PID control structure by using simulation,the results indicates the control method can effectively improve the instruction track character and anti-jamming performance.At last,a experiment system is build for the beeline displacement platform and the high-speed positioning results validate the method has a perfect control performance.

关 键 词：交流伺服 高速定位 前馈控制 二自由度控制 

分 类 号：TH16[机械工程—机械制造及自动化]