提高电动伺服加载系统抗扰动能力的研究  

Research on improving anti- disturbance capability of electric loading simulator

作　　者：钱修生 李军[1] 

机构地区：[1]南京理工大学自动化学院,南京210094

出　　处：《工业仪表与自动化装置》2016年第2期58-63,共6页Industrial Instrumentation & Automation

摘　　要：在电动伺服加载系统中,各种形式的干扰都会影响加载性能,降低加载精度。该文建立了永磁同步加载电机数学模型,采用模糊自适应PID控制器,在线整定控制参数。引入位置扰动前馈、摩擦扰动前馈及干扰观测器,分别用以消除位置扰动、摩擦扰动以及其他无法精确建模或检测的干扰。仿真表明,系统可以有效克服位置、摩擦等干扰,具有良好的动态性能和较高的加载精度。In the electric loading simulator,various forms of disturbances will affect the loading performance and reduce the loading precision. In this paper the mathematical model of permanent magnet synchronous motor is established and a fuzzy adaptive PID controller is adopted to adjust the controlling parameters online. In order to eliminate the position and friction disturbance,as well as other disturbance that cannot be modeled accurately or measured,a position and friction disturbance feed- forward and a disturbance observer is designed. The results of simulation prove that the electric loading simulator designed can suppress the position and friction disturbance,and it has good dynamic performance and high accuracy.

关 键 词：电动加载系统 模糊自适应PID 干扰观测器 位置扰动前馈 摩擦扰动前馈 

分 类 号：TP275[自动化与计算机技术—检测技术与自动化装置] TP13[自动化与计算机技术—控制科学与工程]