电动舵机伺服控制器控制律的优化设计  

Design and Research of the Electrical Actuators Servo Controller

作　　者：赵志刚[1] 骆志伟[1] 欧阳松[1] 

机构地区：[1]北京航天发射技术研究所,北京100076

出　　处：《微特电机》2015年第2期44-46,49,共4页Small & Special Electrical Machines

摘　　要：电动舵机伺服系统是一个包含位置环、速度环和电流环的多闭环系统,对舵机系统各控制环节参数的设计和优化可以使得舵机伺服系统响应更加快速,高性能的电流环是高性能伺服系统构成的基础,电流环的好坏直接会影响到矢量控制的效果,最终影响伺服系统的转矩响应。运用系统解耦辨识的方法,得到伺服系统解耦后的电流环数学模型,对控制律进行优化,使得优化所得的控制参数与实际系统所需参数非常接近,从而大大缩短软件开发的周期。Electric steering servo system is composed of position loop,speed loop and current loop,and each link of the system design and optimization of controller parameters can improve the response performance of servo system. The high performance of current loop is the base of high-performance servo system,its performance fit and unfit quality directly influence the realization of the vector control strategy,which affect the torque response of the system. The system identification of decoupling was used to get the decoupled current loop servo system mathematical model and the control law was optimized. The optimal of control parameters is close to practical parameters needed by the system,so as to shorten the software development period.

关 键 词：电动舵机 解耦辨识 控制律优化设计 

分 类 号：TM351[电气工程—电机] TM341