光电跟踪系统力矩波动的自抗扰控制  

Active Disturbance Rejection Control of Torque Ripple on Optoelectronic Tracking System

作　　者：王帅[1] 王建立[1] 李洪文[1] 阴玉梅[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,长春130033

出　　处：《光电工程》2012年第4期7-13,共7页Opto-Electronic Engineering

基　　金：中国科学院三期创新基金资助项目

摘　　要：为解决光电跟踪伺服系统受电机力矩波动影响产生的速度波动问题,提出了一种改进的自抗扰控制策略进行力矩波动补偿。该算法主要由两部分组成:通过扩张状态观测器辨识出系统扰动,然后将该扰动前馈到系统控制量中去,构成复合校正系统;反馈通道中采用两参数的比例微分控制器,可以保证系统的稳定性和良好的动态特性。仿真分析和实验结果表明:与同等闭环控制带宽的PI控制器相比,自抗扰控制器可以提高系统对扰动力矩的抑制能力,采用自抗扰补偿时,速度误差的峰值由1.88%降低到0.65%,速度误差的均方根值由0.8%降低到0.2%。实验结果证明提出的方法能够有效降低电机力矩波动的影响,提高速度平稳性。An improved active disturbance rejection control is proposed to solve the problem on the velocity fluctuation caused by torque ripples in a DC torque motor.The algorithm consists of two parts：the extended state observer estimates the system disturbances,and then the estimated disturbance is fed into the control system to form composite correction system.A two-parameter proportional-derivative controller can guarantee system stability and good dynamic characteristics.The simulation and experimental results show that,compared to the PI controller with the same closed-loop control bandwidth,the proposed method can improve the ability of disturbance rejection,using Active Disturbance Rejection Control（ADRC） compensation,the peak-peak value of speed error from 1.88% down to 0.65%,the Root Mean Square（RMS） value of the error from 0.8% to 0.2%.Experimental results show that the proposed method can effectively reduce the velocity fluctuation caused by motor torque ripple,and improve the speed smooth.

关 键 词：直流力矩电机 伺服控制 力矩波动 低速性能 自抗扰控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TH743[自动化与计算机技术—控制科学与工程]