摘要
随着科技的迅猛发展,伺服系统的指标要求越来越高,其中低速跟踪性能是评价伺服系统优劣的指标之一,研究如何改善伺服系统的低速跟踪性能具有重要的实际意义。
本论文以高精度直线定位系统和电动仿真转台系统为背景,以改善伺服系统的低速跟踪性能为目的,研究了影响高精度直线定位系统和电动仿真转台系统低速性能的主要因素,建立了上述两种系统被控对象的模型,并分别设计了自适应鲁棒控制器,最后在实际系统中对自适应鲁棒控制器的性能进行了验证。本文的主要内容如下:
1.介绍了目前伺服系统的研究现状,其中重点介绍了改善伺服系统低速性能涉及的研究领域和内容,阐述了摩擦补偿方法的研究现状。
2.介绍了伺服系统的组成,分析了影响伺服系统低速性能的主要因素,针对摩擦建立了被控对象的模型。
3.研究了自适应鲁棒控制方法,给出了考虑参数不确定性和非参数不确定性作用时被控对象的控制器设计方法。
4.针对高精度直线定位系统和电动仿真转台系统分别设计了自适应鲁棒控制器,并与PID控制方法进行比较,实验表明自适应鲁棒控制方法能够明显改善伺服系统的低速性能。
With the rapid development of science and technology, the high performance indices of servo system are required more and more. The low-speed tracking performance is a important index of servo system’s indices, so how to improve low-speed tracking performance has important practical significance.
Taking the background of high precision linear-servo position systems and turntable system, the thesis focused on improving servo-system low-speed tracking performance. Furthermore the factors affecting low-speed tracking performance of high precision linear-servo position systems and turntable system are analyzed, and developed the model of both systems based friction. At last, the adaptive robust controller was designed and the performance of adaptive robust control was verified by experiments. The main content of the paper is as follows.
1. The current main research fields of servo system were introduced, which focused on the content of improving low-speed tracking performance, and described current main research of friction compensation.
2. The configuration of servo system was introduced, and analyzed the most important factors affecting low-speed tracking performance. At last, the model of controlled plant was developed based on friction.
3. The adaptive robust control was introduced, and also the controller design method of controller plant which considering parameter uncertainties and non-parameter uncertainties.
4. The adaptive robust controllers of high precision linear-servo position systems and turntable system was designed respectively and comparative experiments between adaptive robust and PID were obtained. Experimental results showed that adaptive robust control can improving low-speed performance effectively.
引文
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