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基于预估观测器的二自由度速度控制器设计

DOI: 10.13195/j.kzyjc.2014.1160, PP. 2067-2072

Keywords: 直线电机,运动控制,预估观测器,伺服系统,二自由度

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Abstract:

高速高精度伺服控制系统中,预估观测器可以消除反馈信号的相位延迟和采样噪声.但由于伺服控制系统通常采用比例-积分-微分(PID)控制器进行反馈调节,即使与预估观测器结合使用,仍不能满足高速高精度系统环路性能的需要.针对此问题,引入一种基于预估器观测器的二自由度控制器算法,并给出其在焊线机??-??平台直线电机速度控制器中的设计方法.仿真和实验结果表明,所提出的算法不仅可以保证系统控制的精度,而且能够提高系统的速度和位置跟随特性.

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