伺服跟踪系统的预见预测控制器设计  

Design of Previewed Predict Control System of Servo Tracking System

作　　者：刘昌权 王志胜[2] 

机构地区：[1]中国航空工业第605研究所,湖北荆门448035 [2]南京航空航天大学自动化学院,江苏南京210016

出　　处：《机械与电子》2012年第11期7-12,共6页Machinery & Electronics

摘　　要：对机床、机器人等轨迹跟踪提出的高速、高精度的要求,而这类系统的跟踪路径大都是已知的,因此设计预见预测控制器,充分利用已知未来轨迹跟踪信息及未来已知干扰信息,提高系统动态响应,利用预测控制克服模型误差,提高鲁棒性。对所设计预见预测控制器进行了仿真,仿真分析表明,预见预测控制器能大幅度提高系统的跟踪精度。The high speed and high precision are required in machine tools and robot trajectory tracking. As the tracking system path can mostly be known, the previewed predictive controller is designed in this paper. The previewed predict con- troller can make full use of the known trajectory tracking information and known interference infor- mation from future. It can improve the system dy- namic response, avoid model error, amd improve robustness. And the simulation results show that the predictive controller can dramatically improve tracking precision of the system.

关 键 词：轨迹跟踪 预见预测控制 鲁棒性 跟踪 精度 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]