基于复合前馈模糊PID的位置伺服系统研究
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摘要
在现代伺服控制系统中,PID控制在响应速度和位置跟踪精度方面存在不足。针对此种不足,提出了一种基于复合前馈模糊PID的控制算法。同时,使用该算法建立了控制系统的数学模型和策略,并使用Matlab和TMS320F28379D控制器搭建了系统仿真模型进行实验验证。实验结果表明,该复合模糊控制算法具有快速响应、准确、无超调等特性,满足机器人等伺服控制场合需要。
In modern servo control system, PID control has some shortcomings in response speed and position tracking accuracy. To solve this problem, a control algorithm based on compound feedforward fuzzy PID is proposed. The mathematical model and strategy of the control system are established by using the algorithm. At the same time, a system simulation model is built to verify the results by using Matlab and TMS320F28379D controller. The experimental results show that the composite feedforward fuzzy PID control algorithm has the characteristics of fast response, high accuracy and non-overshoot. Therefore, it can meet the needs of robot and other servo control occasions.
In modern servo control system, PID control has some shortcomings in response speed and position tracking accuracy. To solve this problem, a control algorithm based on compound feedforward fuzzy PID is proposed. The mathematical model and strategy of the control system are established by using the algorithm. At the same time, a system simulation model is built to verify the results by using Matlab and TMS320F28379D controller. The experimental results show that the composite feedforward fuzzy PID control algorithm has the characteristics of fast response, high accuracy and non-overshoot. Therefore, it can meet the needs of robot and other servo control occasions.
引文
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[11]周承仙,富巍.基于前馈控制与反馈控制的位置伺服研究[J].火力与指挥控制,2016,41(12):162-164.
[2] Ni Q,Yang M,Long J,et al. Observer-based estimation improvement for servo control of PMSM with binary-type hall sensors[C]//Applied Power Electronics Conference and Exposition. 2017:539-545.
[3] Pawlowski A,Guzmán J L,Normey-Rico J E,et al. Improving feedforward disturbance compensation capabilities in Generalized Predictive Control[J]. Journal of Process Control,2012,22(3):527-539.
[4]孙增圻,邓志东,张再兴.智能控制理论与技术[M].北京:清华大学出版社,2011.
[5]王伟华,肖曦,丁有爽.永磁同步电机改进电流预测控制[J].电工技术学报,2013,28(3):50-55.
[6]林辉,吕帅帅,樊明迪.基于模糊前馈的永磁同步电动机滑模矢量控制系统[J].微特电机,2013,41(4):35-37.
[7]王晓冬,汪旭东.永磁同步电动机位置环的模糊PI控制研究[J].计算机仿真,2014,31(4):398-401.
[8] Zhang J,Liu C,Jiang R H,et al. Position control for PMSM servo system using non-smooth feedback and disturbance estimation compensation[C]//2014 17th International Conference on Electrical Machines and Systems. 2014:2060-2065.
[9] Gai J T, Huang S D, Huang Q,et al. A new fuzzy activedisturbance rejection controller applied in PMSM position servo system[C]//2014 14th International Conference on Electrical Machines and Systems. 2014:2055-2059.
[10]陈荣.永磁同步电机伺服系统研究[D].南京:南京航空航天大学,2005.
[11]周承仙,富巍.基于前馈控制与反馈控制的位置伺服研究[J].火力与指挥控制,2016,41(12):162-164.