基于跟踪微分器的伺服系统抗干扰特性仿真研究  

Resarch on Simulation of Anti-disturbance Characteristics of Servo System Based on Tracking Differentiator

作　　者：母东杰 郝河 蔡会 单杰峰 Mu Dongjie;Hao He;Cai Hui;Shan Jiefeng(China Electronics Industry Engineering Co.,Ltd.,Beijing 100089,China;School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China)

机构地区：[1]中国电子产业工程有限公司,北京100089 [2]北京交通大学机械与电子控制工程学院,北京100044

出　　处：《机电工程技术》2024年第5期46-49,195,共5页Mechanical & Electrical Engineering Technology

摘　　要：伺服系统模拟器作为模拟飞机船舶等舵机的环境测试关键设备,其加载力的控制品质决定了模拟器的加载性能。根据加载测试的实际需要,力伺服系统和位置系统(即被加载对象)的刚性连接,会在加载过程中易受到被加载对象等外部干扰的影响,导致加载精度难以保证。为优化模拟器力加载特性,采用了跟踪微分器与结构不变性原理相结合,将被加载对象带来的位置等干扰看成是对伺服系统的总扰动,通过跟踪微分器对被加载对象运动速度进行观测,并采用跟踪微分器来获取加载系统的速度来进行前馈补偿。该补偿对于伴随有随机噪声的输入信号,起到微分并滤波的作用,减小被动加载误差。最后通过仿真实验对比了所提出的控制策略与传统PID控制的加载效果,结果表明采用本文所述控制方法可有效抑制被动加载时的外部扰动,提高了电液力伺服加载系统的加载精度。The servo system simulator is a key equipment for simulating the environmental testing of servo engines.The control quality of the loading force of the simulator determines its loading performance.At present,the rigid connection between the force servo system and the position system(i.e.the loaded object)is susceptible to external interference such as the loaded object during the loading process,making it difficult to ensure the loading accuracy.The tracking differentiator is combined with the principle of structural invariance,treating the position and other disturbances caused by the loaded object as the total disturbance to the servo system.And the tracking differentiator is used to observe the motion speed of the loaded object,and the tracking differentiator is used to obtain the speed of the loading system for feedforward compensation.This compensation plays a differential and filtering role for input signals accompanied by random noise,reducing passive loading errors.Finally,a simulation experiment is conducted to compare the loading effect of the control strategy proposed with that of traditional PID control,indicating that the control method described can effectively suppress external disturbances during passive loading and improve the loading accuracy of the electro-hydraulic servo loading system.

关 键 词：伺服系统 数学仿真 跟踪微分器 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]