基于自适应速度前馈补偿的快速伺服系统研究  

Research on Fast-Response Servo System Based on Adaptive Speed Feed-Forward Compensation

作　　者：文建刚 周亚军[1] 张竟飞[1] 张格[1] 何颐 

机构地区：[1]中国航天科技集团公司第四研究院第四十一研究所,陕西西安710025

出　　处：《电机与控制应用》2016年第11期1-5,共5页Electric machines & control application

摘　　要：设计了一种带有模型参考自适应速度前馈补偿的快速响应电动伺服系统,解决了无减速器电机直驱系统或小减速比伺服系统的大负载扰动问题。所采用的控制策略既发挥了模型参考自适应控制的优点,又避免了复杂而严格的稳定性约束问题,使得系统可以大范围适应输入和控制增益的变化。仿真试验结果表明该系统对负载扰动具有较强的自适应能力,控制策略易于实现,具有较强的实用意义。A fast-response electrical servo system which had model reference adaptive speed feed-forward controller was designed, aiming to resolve the problem of big load disturbance on the servo system without reducer or with small reduction ratio. The control strategy not only took the advantages of model reference adaptive controller, but also avoided the problem of strict and complicated stability constraint. The system could adapt wide-range variations of input and control gain. Simulation results showed that the servo system had strong adaptive ability to the load disturbance. The control strategy was practical and easy to realize.

关 键 词：快速伺服系统 模型参考 自适应速度前馈补偿 负载扰动 

分 类 号：TM301.2[电气工程—电机]