位置伺服转台系统双回路控制方法研究  

Study on Double Closed-loop Control Methods for Position Servo Turntable System

作　　者：王欢[1] 赵蔚 崔家明[1] 谢铖 陈松林[1] WANG Huan;ZHAO Wei;CUI Jia-ming;XIE Cheng;CHEN Song-lin(Control and Simulation Center,Harbin Institute of Technology,Harbin 150080,China;Shanghai Institute of Aerospace System Engineering,Shanghai 201109,China)

机构地区：[1]哈尔滨工业大学控制与仿真中心,黑龙江哈尔滨150080 [2]上海宇航系统工程研究所,上海201109

出　　处：《控制工程》2021年第12期2410-2419,共10页Control Engineering of China

基　　金：国家自然科学基金资助项目(61773138);国家重点研发计划项目(2019YFB1301402)。

摘　　要：以提升位置伺服转台的性能为目标,分析了分别基于速度和加速度内回路的两种双回路控制下位置伺服转台系统抗干扰性能的差异,得到了两种控制方法在外回路性能相同时抗干扰性能等价的结论。在此基础上,结合经典频域控制和现代滑模控制方法设计了基于速度和位置的双回路控制器,并最终在位置伺服转台系统中进行了实验。与单位置回路滑模控制器和传统频域双回路控制器的对比结果,验证了所设计的双回路控制器在抗扰性能和鲁棒性方面的优越性。In order to improve the tracking performance of the position servo turntable,the difference in the anti-disturbance performance of the position servo turntable system under two double closed-loop control with speed and acceleration inner loops is analyzed.It is concluded that the anti-disturbance performance of the two control methods is equivalent when the outer loop performance is same.Furthermore,combining frequency control and slide mode control,a double closed-loop controller based on position and speed is designed.Finally,experiments are carried out on the position servo turntable system.The comparison results with the single position-loop sliding mode controller and the traditional frequency-domain double closed-loop controller verify the superiority of the designed double closed-loop controller in terms of anti-disturbance performance and robustness.

关 键 词：位置伺服转台 双回路控制 速度反馈 加速度反馈 滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]