直流伺服电机新型位置-速度控制策略  

New position-speed control strategy of the direct current servo motor

作　　者：郭荣盛 邵雪卷[1] 陈志梅[1] GUO Rongsheng;SHAO Xuejuan;CHEN Zhimei(School of Electronic Information Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China)

机构地区：[1]太原科技大学电子信息工程学院,山西太原030024

出　　处：《实验技术与管理》2024年第5期127-134,共8页Experimental Technology and Management

基　　金：山西省重点研发基金项目(202102020101013);山西省基础研究计划项目(202303021211165,202103021224271);太原科技大学博士科研启动基金项目(20202070);山西省研究生教改项目(2023JG139,2023AL31)。

摘　　要：针对由直流电机位置伺服系统自身参数不确定以及外部扰动影响,导致系统响应速度、控制精度降低的问题,提出了一种新型位置-速度双环控制策略。速度控制器采用模糊内模PID(proportional-integral-differential)控制,利用模糊原理实现对内模PID控制器参数,即滤波时间常数λ的在线智能整定;位置控制器采用基于自抗扰的非奇异快速终端滑模控制(non-singular fast terminal sliding mode control,NFTSMC),利用线性扩张状态观测器对系统总体的内外干扰进行估计,并以反馈形式进行补偿,同时采用NFTSMC对系统的状态变量进行跟踪,以提高系统的跟踪性能和抗干扰性;最后使用仿真与实验方法验证了新型双闭环控制策略对直流电机位置伺服系统具有良好的控制性能。[Objective]With the continuous upgrading of industrial intelligent manufacturing requirements,servo motor control technology is widely used in automated production,which has encouraged people to have higher requirements for its speed and position control.Concerning uncertainty in the DC motor position servo system parameters and the influence of external disturbance,the system response speed and control accuracy are reduced,and a single control strategy cannot solve all the problems encountered in the DC servo systems.Therefore,the compound control strategy is effective in achieving high-performance control of servo systems.Some methods pose challenges in adjusting the controller parameters and implementing complex control algorithms,which can compromise system speed and accuracy.Moreover,achieving strong immunity while maintaining rapidity and accuracy remains a challenge.[Methods]Active disturbance rejection control has the advantages of good robustness,high control precision,and low model dependence,making it widely applicable,while nonsingular fast terminal sliding mode control can solve the problem of slow convergence of traditional sliding mode control systems.Therefore,to achieve high-performance servo control and enhance the control accuracy,robustness,and response speed of the system,the control strategy of nonsingular fast terminal sliding mode control-fuzzy internal mode PID control based on autodisturbance rejection is studied for the position servo system of the DC motor.The position servo system of the DC motor is usually a double closed-loop structure.The inner loop speed controller adopts a fuzzy internal mode PID,and the fuzzy principle is used to realize the online intelligent tuning of the internal mode PID controller parameterλ.The position controller is an outer loop that adopts nonsingular fast terminal sliding mode control based on active disturbance rejection.The linear extended state observer estimates the internal and external disturbances of the system and compensates for them as feedb

关 键 词：自抗扰 非奇异快速终端滑模 内模PID 模糊控制 位置伺服系统 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]