基于干扰抑制的含齿隙伺服系统鲁棒控制方法

doi:10.16182/j.issn1004731x.joss.201802039

系统仿真学报 ›› 2018, Vol. 30 ›› Issue (2): 691-698.doi: 10.16182/j.issn1004731x.joss.201802039

基于干扰抑制的含齿隙伺服系统鲁棒控制方法

韩崇伟¹, 彭超², 石志翔¹, 李忠¹

1.西北机电工程研究所,陕西咸阳 712099;
2.电子科技大学,四川成都 611731

收稿日期:2015-12-28 出版日期:2018-02-08 发布日期:2019-01-02
作者简介:韩崇伟(1963-),男,河南新安,博士,研究员,研究方向为火炮伺服控制;彭超(1980-),男,四川成都,博士,副教授,研究方向为鲁棒控制理论与应用。
基金资助:
中国博士后科学基金(2014M560710)

Disturbance Rejection Based Robust Control Approach for Servo System with Backlash

Han Chongwei¹, Peng Chao², Shi Zhixiang¹, Li Zhong¹

1.Northwest Institute of Mechanical & Electrical Engineering, Xianyang 712099, China;
2.School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China

Received:2015-12-28 Online:2018-02-08 Published:2019-01-02

摘要/Abstract

摘要： 研究了一种基于干扰抑制的鲁棒控制方法,该方法将齿隙看作外部干扰,利用干扰抑制补偿器减小齿隙对系统控制性能的影响;利用基于混合灵敏度的鲁棒反馈控制器提高系统对期望输出的跟踪控制精度和鲁棒性。在分析含齿隙伺服系统的结构、工作原理的基础上,建立了系统模型;给出了本文所研究控制方法的控制原理,以及鲁棒干扰抑制补偿器和基于混合灵敏度的鲁棒反馈控制器的设计方法; 通过仿真实验证明该控制方法能够有效地提高含齿隙伺服系统的动静态控制性能。

关键词: 齿隙, 伺服系统, 干扰抑制, 混合灵敏度

Abstract: With the rapid development of industry and science technology, the control performance requirements for servo system become higher and higher. Aiming at the servo system with backlash, a disturbance rejection based robust control approach is studied, which sees the backlash as external disturbance. It utilizes a disturbance rejection compensator to reduce the adverse effects caused by backlash, a mixed sensitivity based robust feedback controller to enhance the tracking control precision and robustness. The model of the servo system with backlash is built based on the analysis of system structure and work principle. The control principle, the robust disturbance rejection compensator and the mixed sensitivity based robust feedback controller design methods are presented. The simulation experiment results demonstrate the control approach can enhance the control performance of the servo system with backlash effectively.

Key words: backlash, servo system, disturbance rejection, mixed sensitivity

中图分类号:

TP273

韩崇伟, 彭超, 石志翔, 李忠. 基于干扰抑制的含齿隙伺服系统鲁棒控制方法[J]. 系统仿真学报, 2018, 30(2): 691-698.

Han Chongwei, Peng Chao, Shi Zhixiang, Li Zhong. Disturbance Rejection Based Robust Control Approach for Servo System with Backlash[J]. Journal of System Simulation, 2018, 30(2): 691-698.

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基于干扰抑制的含齿隙伺服系统鲁棒控制方法

Disturbance Rejection Based Robust Control Approach for Servo System with Backlash

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