成像扫描低速变负载大惯量系统自抗扰控制  

Active disturbance rejection control on imaging scan low speed variable load large inertia system

作　　者：张柯[1] 杜丽敏[2] 金龙旭[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 [2]长春大学,长春130022

出　　处：《电子测量技术》2014年第12期67-70,79,共5页Electronic Measurement Technology

基　　金：国家863计划(863-2-5-1-13B)资助项目

摘　　要：宽幅空间相机外场成像系统是一个低速变负载大惯量伺服系统,要求所设计的控制器应具有较强的扰动抑制能力,响应速度快,超调小,以及较好的低速平稳性等特点,采用传统的控制方法很难同时满足上述性能的要求,由此,提出了一种改进的自抗扰控制方法。首先,设计了一种线性跟踪微分器,以解决超调与快速性之间的矛盾;其次,设计了线性扩张状态观测器,用来观测负载的变化以及力矩波动等扰动;然后,对观测补偿后的控制对象,采用一种变结构式非线性反馈控制律,以实现系统更高的稳定精度。仿真结果表明,采用本文提出的自抗扰控制策略,与传统的PI控制器相比,稳态时速度波动的峰值由20%降低到1.6%,对于变化的负载具有较强的鲁棒性,并且在超调量小于5%的允许条件下实现了大惯量系统的快速响应,达到了预期的控制效果。Wide field space camera imaging system is a low speed, varying load and large inertia servo system, which requires strong disturbance rejection capability, fast response speed and high low speed stability so on. The traditional control method is difficult to meet all the above performance requirements at the same time, so this paper proposes an improved auto disturbance rejection control method. First, a linear tracking differentiator is designed, aimed at resolving the contradiction between overshoot and rapidity; secondly, linear extended state observer is designed to identify load changes and torque fluctuation; then, according to the control object after compensation, a variable structure nonlinear feedback controller is designed to ensure that the system has good stable precision. The simulation results show that, compared with the traditional PI controller, using the proposed active disturbance rejection control strategy, the velocity fluctuation decreases from 20% to 1.6% in steady state, the system has strong robustness for change load, and the rapid response of large inertia system is achieved in the conditions of overshoot less than 5 %, that achieves the expected control effect.

关 键 词：大惯量 变负载 低速 直流力矩电机 力矩波动 自抗扰控制 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]