基于前馈控制的高精度伺服系统  

High Precision Servo System Based on Feed-forward Control

作　　者：尉世超 杨振强[1] YU Shi-chao;YANG Zhen-qiang(School of Electrical Engineering,Dalian University of Technology,Dalian 116024,China)

机构地区：[1]大连理工大学电气工程学院,大连116024

出　　处：《组合机床与自动化加工技术》2022年第6期134-137,共4页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：对高精度电机伺服系统的控制策略进行了研究,针对伺服系统闭环层次多造成的稳态误差大、响应慢的问题,采用速度和加速度前馈控制改善了系统的跟踪性能;针对系统抗扰性能差的问题,采取一种新型扰动观测器作为负载转矩观测器,对负载转矩观测结果进行补偿,有效解决了负载扰动造成结果波动大的问题。此转矩观测器的设计简单仅有一个控制参数,不含微分量,具有高频噪声小的优点。对控制策略建模仿真,结果表明:前馈控制可以有效降低稳态误差,改善系统跟踪性能;进行负载转矩观测并补偿,可明显降低扰动造成的超调。In this paper,the control strategy of high precision motor servo system is studied.Aiming at the problems of large steady-state error and slow response caused by multiple closed-loop levels of servo system,the speed and acceleration feedforward control is adopted to improve the tracking performance of the system.Aiming at the problem of poor anti-disturbance performance of the system,a new disturbance observer was adopted as the load torque observer to compensate the load torque observation results,which effectively solved the problem of large fluctuation caused by load disturbance.The design of the torque observer is simple and has only one control parameter,without micro-component,and has the advantage of low high frequency noise.The simulation results show that the feedforward control can effectively reduce the steady-state error and improve the tracking performance of the system.The overshoot caused by disturbance can be obviously reduced by observing and compensating the load torque.

关 键 词：伺服系统 永磁同步电机 前馈控制 负载转矩观测器 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]