高精度电机伺服系统控制综合方法  

Synthesis methods of high precision motor servo system control

作　　者：田大鹏[1] 吴云洁[1] 刘晓东[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《电机与控制学报》2010年第7期66-74,共9页Electric Machines and Control

基　　金：教育部新世纪优秀人才支持计划项目(NCET-07-0044)

摘　　要：针对高精度电机伺服系统控制器设计中的关键问题进行了研究。依据非线性跟踪-微分器的基本思想提出一种等效微分估计方法并给出其最简形式的离散实现。依据小增益定理讨论干扰观测器综合时低通滤波器阶数的影响并提出其综合准则。论述零相差前馈和完全跟踪控制器的设计方法及其适用范围。利用微分估计对信号畸变不敏感的特性设计一种等效速度+加速度前馈方案。数值分析和仿真实验表明:与传统差分方法相比,微分估计能在信号存在噪声和畸变的情况下获得有效的微分值;通过设计低通滤波器阶数可以提高干扰观测器的截止频率;提出的前馈与零相差前馈和完全跟踪控制器相比,跟踪5 Hz正弦指令的误差减至0.02°,且对指令畸变不敏感。The studies were implemented for the core problems on controller design of high precision motor servo system.A differential estimation method was proposed based on the basic idea of nonlinear track-ing-differentiator,as well as its discrete realization of the simplest format.According to the small gain theorem,the order number influence of the low-pass-filter was discussed for disturbance observer（DOB） synthesis,besides,the synthesis rule was proposed.It was also discussed on the design methods and ap-plicable areas of zero phase error tracking controller（ZPETC） and perfect tracking controller（PTC）.By utilizing the insensi-tive characteristic for signal aberrance of the proposed differential estimation,an e-quivalent velocity ＋ accel-eration feedforward scheme was designed.Numerical analysis and simulation experiments are as follows： compared with traditional difference,the differential estimation gets differenti-a value effectively even there is noise and aberrance;the cutoff frequency of DOB can be improved through the order design of the low-pass-filter;compared with ZPETC and PTC,the proposed feedforward decreases the tracking error to 0.02° for 5 Hz sine command,even there is command aberrance.

关 键 词：伺服系统 鲁棒性 微分估计 干扰观测器 完全跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]