自抗扰控制器在平面电机控制系统中的应用

Application of ADRC in Planar Motor Control System

摘要:

针对平面电机调速系统在PID控制下控制性能差的问题,文章提出了自抗扰控制方案,在突加负载或扰动时,用自抗扰控制器进行估计、补偿和控制,解决了PID控制中产生的“快速性”与“超调量”之间的矛盾；文章详细描述了自抗扰控制器组成、平面电机速度控制器的搭建,最后在突加负载和摩擦力突变的情况下,通过比较自抗扰控制和PID控制,结果表明:自抗扰控制具有良好的动态性能和鲁棒性。

Abstract:

To solve the problem of poor performance of the planar motor speed control system with PID control,this paper presents ADRC control scheme, when sudden load or disturbances, with ADRC estimation, compensation and control to solve the contradiction "fast" and "overshoot" PID control arising between. The paper describes in detail the composition of ADRC build planar motor speed controller, and finally in the case of sudden load and friction mutations by comparing the ADRC control and PID control, the results showed that:ADRC has good dynamic performance and robustness.