位置伺服系统控制算法的研究

,(,710055):PID,PID,:;PID;;;:TP273:AResearchofPositionServoSystemControlAlgorithmJIQiOchun,SUNYuOgang(CollegeofInformationandControlEngineering,XianUniversityofArchitectureandTechnology,Xian710055,Shaanxi,China)Abstract:InhighOprecisionpositiontrackingandimprovethecontrolqualityinservosystem,traditionalPIDcontrolhasshownalotofdefects.TheinterfereincontrolandmeasureofnoiseexistinginthesystemdeeplyaffectofservoOtrackingsystem.ThecombinationofaKalmanfilterwitharepeatcompensationPIDcontrolandfeedforwardcompensationcontrolwasproposed.Thesimulationprovesthatthemethodcancon2trolhighprecisiontrackingcyclicalinputsignalandabettersuppressrandomdisturbancesandrobustness.Keywords:repetitivecontrol;PID;servosystem;Kalman;feedforwardcompensator:(1963-),,,,Email:[e-mail],,,,,,;,,PID,,,[1]PID,,,[2],PID,11.1PIDInoue1981,,:,,,,,,,,,,[3]PID1062010405ELECTRICDRIVE2010Vol.40No.51PIDFig.1BlockdiagramofrepetitivecompensationPIDcontrol1,Q(s),G(s),upPID,ue,K,e-Ls(L)Q(s),,Q(s)1,H(s)=e-Ls1-Q(s)e-Ls(1)Q(s)=1,=2nf(f,n=0,1,2,),L=1/f,s=j:1-Q(s)e-Ls=1-e-j2n=0(2)(1)(2),,,[4]1.2,;PID,,,,PID,,,,,1,PID,Gp(s)=1/G(s)(3)PID2,ufu(k)=up(k)+ue(k)+uf(k)(4)2PIDFig.2BlockdiagramofacombinationofrepetitivecontrolcoOmpensationPIDandfeedforwardcompensationcontrol1.3[5],:,,:x(k)=AX(k-1)+B[u(k)+w(k)]yv(k)=Cx(k)+v(k)(5):w(k);v(k)::Mn(k)=P(k)CTCP(k)CT+R(6)x(k):P(k)=AP(k-1)AT+BQBT(7)P(k)=[In-Mn(k)C]P(k)(8)x(k)=Ax(k-1)+Mn(k)[yv(k)-CAx(k-1)](9):ye(k)=Cx(k)(10):errcov(k)=CP(k)CT(11)33Fig.3Kalmanfilterstructure1.4,,16,:2010405PID4,,,,,,[6],PID,,,,PID,4Fig.4Controllerstructure2[7]G(s)=75s(0.000067s2+0.00803s+1.46)Q(s)Q(s)=11+0.25srink(k)=sin(2kts),2ms,0.005,55Fig.5SimulationresultsPID,,PIDPID,,,,,11Tab.1Meansquareerrorunderdifferentcontrolprograms5a5b5c5d0.20930.16700.02640.00973,PID3,,,PID,,,[1],,,.[J].,2006(3):171-175.[2],,,.[J].,2005,8(2):10-13.[3].PIDMATLAB[M].:,2003.[4],,,.[J].,2008,35(3):21-24.[5]BrownRG,HwangPYC.IntroductiontoRandomSignalsandAppliedKalmanFiltering[M].NewYork:JohnWiley&Sons,Inc.1992.[6],,.PID[C],2005:273-275.[7].()[Z].2.:,1996.:2009-05-15:2009-11-27262010405,: