同步电机在位置随动系统中跟踪误差的分析与研究  

Analysis and Research on Synchronous Motor Tracking Error in the Position Servo System

作　　者：王宏文[1] 孟立新[1] 吴红星[1] 侯美杰 

机构地区：[1]河北工业大学控制科学与工程学院,天津300130

出　　处：《电气传动》2016年第4期75-79,共5页Electric Drive

摘　　要：位置随动系统的任务是使被控量按同样规律变化并与输入信号的误差保持在规定范围内。同步电机具有响应快、定位准确特点,将其作为执行机构,满足系统要求。在建立位置随动系统的等效数学模型基础上,考虑到跟踪最终位置过程的不确定性和传统PID控制器超调量大,调节时间长的缺点,设计了Fuzzy-LQRPID控制算法来提高位置跟踪精度,通过Matlab软件对该算法进行仿真,并由STEP7编程软件编写程序在自主研发的无头轧制多级传动系统的模拟实验台上进行了实验验证。实验结果表明:该方法设计的系统控制精度明显提高,可实现同步电机快速精确地跟踪,位置跟踪误差小于PID控制算法的1/4,同时优化了控制输入信号,有着广阔的应用前景。Position servo system＇ s task is to change controlled variable by the same laws and keep the error of the input signal within a specified range. Synchronous motor with fast response and accurate positioning features, which as an actuator, can meet the system requirements .On the basis of the established ＂equivalent＂ mathematical models of the position servo control system, taking into account the uncertainty of the final position of the tracking process and the traditional PID controller has many shortcomings such as large overshoot, long regulation time, presentsed Fuzzy-LQR-PID control algorithm to improve the tracking accuracy. This arithmetic was simulated by Matlab software. Used STEP7 programming software to complete the design process of Fuzzy-LQR-PID control algorithm, and experiment was carried out on the simulation platform of the endless roiling multi-drive transmission system, which was developed by ourselves. The experimental results show that： the control precision of the system designed by the method is improved significantly, the proposed method can realize synchronous motor quickly and accurately tracking, location tracking error is less than 1/4 of PID control algorithm, while optimizing the control input signal, has broad application prospects.

关 键 词：线性二次型调节器 PID控制器 模糊控制 跟踪误差 SIMULINK仿真 STEP7 

分 类 号：TP275[自动化与计算机技术—检测技术与自动化装置]