两轴转台位置伺服系统自适应鲁棒控制

Adaptive Robust Control for a Two-axis Turret Position Servo System

摘要:

针对某两轴随动转台运行时负载与参数变化大、轴间耦合干扰作用强的特点,将自适应鲁棒控制策略应用到其位置伺服系统控制器设计中,并证明了稳定性；由于控制律中含有采集信号的高阶微分项,为避免采集噪声对控制精度的影响,采用微分观测器,以减小其影响；仿真结果表明,相对于PID及传统自适应鲁棒控制器,使用该控制方法后,系统跟踪精度明显提高,且控制输入更加平滑,具有较好的瞬态与稳态性能。

Abstract:

An adaptive robust controller was designed to overcome parameter deviation, load disturbance and the moment coupling existing in a Two-axis turret position servo system. For the high-order differential term of measurement signal comprising in the controller, an output differential observer was employed to reduce the noise influence on the controller. The simulation results show that the proposed controller can achieved a better tracking compared to PID and traditional adaptive robust controller, while the input can be more smooth. The dynamic and the steady performance can also be guaranteed.