引入前馈的航天机电伺服系统复合控制技术  

Composite Control for Aerospace Electromechanical Servo Systems with Feedforward

作　　者：李彪 李璐 李佳雨 杨玫 LI Biao;LI Lu;LI Jiayu;YANG Mei(Xi’an Aerospace Precision Electromechanical Institute,Xi’an 710100,China)

机构地区：[1]西安航天精密机电研究所,西安710100

出　　处：《航天控制》2024年第5期23-29,共7页Aerospace Control

摘　　要：针对航天机电伺服系统阶跃响应快速且无超调、跟踪连续变化信号稳态精度高的要求,在位置-速度-电流三闭环控制基础上引入前馈控制组成复合控制,实现了在不降低系统动态性能和稳定度的前提下,提高了对连续变化信号的跟踪精度。分析了闭环控制器与前馈控制器的设计方法,针对全不变性原理设计的前馈函数对噪声敏感的问题,给出了基于误差系数法的设计方法。然后进行了实验验证,实验结果显示:伺服系统能够快速、无超调地响应阶跃指令,对连续变化信号具有良好的跟踪精度,系统带宽得到拓展,说明了本文方法的有效性与实际可行性。In response to the requirements of aerospace electromechanical servo systems for fast step response,no overshoot and high steady-state accuracy during tracking continuously changing signals,a composite control is involved on the basis of position-speed-current triple closed-loop feedback control with introduction of feedforward control.The tracking accuracy of continuously changing signals without reducing the dynamic performance and stability of the system is improved by using this control strategy.The design methods of closed-loop controller and feedforward controller are analyzed.Regarding the noise sensitivity of the feedforward function designed by invariance principle,a designed method based on error coefficient method is developed,and experimental verification is conducted.The experimental results show that the servo mechanism system can respond to step commands quickly without overshoot.The system has good tracking accuracy for continuously changing signals,and the system bandwidth has been expanded.The experimental results demonstrate the effectiveness and practical feasibility of the control method proposed in this paper.

关 键 词：机电伺服系统 前馈控制 复合控制 无超调 高稳态精度 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置]