基于频域特性的伺服系统控制器设计  

Servo System Controller Design Based on Frequency Characteristics

作　　者：卢洁莹[1] 闻成[1] 蔡泽凯 苏为洲[1] 邓晓燕[1] LU Jieying;WEN Cheng;CAI Zekai;SU Weizhou;DENG Xiaoyan(School of Automation Science and Engineering,South China University of Technology,Guangzhou 510641,China)

机构地区：[1]华南理工大学自动化科学与工程学院,广州510641

出　　处：《实验室研究与探索》2023年第4期70-74,共5页Research and Exploration In Laboratory

基　　金：国家自然科学基金项目(61933006);华南理工大学2021年校级教研教改项目(x2zd-C9213073);华南理工大学2022年探索性实验项目(x2zd-C9226680);华南理工大学2022年校级教研教改项目(x2zd-C9223137);华南理工大学2022年度中央高校自然科学类项目(2022ZYGXZR021)。

摘　　要：伺服控制系统在工业机器人、数控机床等高速高精度运动控制系统中有着广泛应用,伺服系统控制器是决定其性能优劣的关键,为此提出一种基于频域特性的伺服系统控制器设计方法。通过设计控制器改变系统开环频率特性,然后分析开环频率特性来评估系统的闭环性能,进一步依据开环频率特性和设计指标调整控制器参数使系统达到理想性能,最后在闭环响应中检验控制器设计效果。为了验证所提方法的有效性,以PID控制器和基于内模原理的LQR控制器频域设计为例在自主研发的伺服云台控制系统中进行实验。实验结果表明,基于频域的控制器设计方法提升了控制器设计的效率和伺服系统的性能。Servo control system is widely used in high-speed and high-precision motion control systems such as industrial robots and numerically controlled machines.The controller design of servo system is the key link to determine its performance.Therefore,a design method of servo system controller based on frequency characteristics is proposed.The open-loop frequency characteristic of the system is changed by designing the controller.Then the closed-loop performance of the system can be evaluated by the open-loop frequency characteristic.In order to make the system achieve the desired performance,the controller parameters are adjusted according to the open-loop frequency characteristic and design index.Finally,the controller design results are tested in the closed-loop response.In order to verify the effectiveness of the proposed method.Two experiments are carried out in the self-developed servo pan-tilt control system.One is the frequency domain design of PID controller,and the other is the LQR controller based on internal model principle.The experimental results show that the controller design method which based on the frequency characteristics improves the efficiency and the performance of the servo system.

关 键 词：频域设计 控制器设计 伺服系统 PID控制器 LQR控制器 

分 类 号：TP273[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]