面向动态特性指标的机电伺服系统PID设计方法  

Design method of PID control for electromechanical servo system based on dynamic characteristics requirements

作　　者：陈国荣 南宫自军[1] 刘博[1] CHEN Guo-rong;NANGONG Zi-jun;LIU Bo(China Academy of Launch Vehicle Technology,Beijing 100076,China)

机构地区：[1]中国运载火箭技术研究院,北京100076

出　　处：《振动工程学报》2024年第10期1767-1774,共8页Journal of Vibration Engineering

摘　　要：针对机电伺服系统PID参数设计难以充分考虑动态特性(幅-相频特性)指标的问题,提出了面向动态特性指标的PID设计方法。基于动力学方程建立了机电伺服系统的9阶传递函数(Transfer Function,TF)模型。运用劳斯判据和TF系数之间的关系补充了系统的稳定性约束和TF系数的相容性约束,以保证PID设计过程中系统的稳定性和TF系数的相容性。在此基础上,基于参数辨识的思想,利用改进的有理分式多项式法辨识TF模型中各个参数,从而快速确定了满足动态特性指标的PID参数,提高了设计效率,并且通过调整指标数据辨识得到多组满足原指标的控制器参数。仿真结果表明:设计得到的PID参数不仅满足动态特性指标要求,而且兼顾了系统稳定性和TF系数的相容性,设计结果与仿真吻合良好。In order to solve the problem that it is difficult to fully consider the dynamic characteristics(amplitude-phase frequency characteristics)requirements in the PID parameter design of electromechanical servo system,a PID design method for dynamic characteristics is proposed.The 9-order Transfer Function(TF)model of electromechanical servo system is established based on dynamic equation.The relationship between Routh criterion and TF coefficient is used to supplement the stability constraint of the system and the compatibility constraint of TF coefficient to ensure the stability of the system and the compatibility of TF coefficient in the PID design process.On this basis,based on the idea of parameter identification,the rational fraction orthogonal polynomial method is used to identify the coefficients in the TF model,so that the PID parameters are quickly determined,which improving the design efficiency,and multiple groups of controller parameters that meet the original index can be identified by adjusting the index data.The simulation results show that the designed PID parameters not only meet the requirements of dynamic characteristics,but also take into account the compatibility of system stability and TF coefficient.The design results are in good agreement with the simulation experiments.

关 键 词：PID控制 参数辨识 动态特性指标 机电伺服系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TM341[自动化与计算机技术—控制科学与工程]