摘要
交流伺服系统存在着非线性和不确定性,系统工作在低速将使系统的稳定控制愈加困难,而且速度测量的延迟是控制器稳定的潜在风险。调节机构姿态和负荷的改变;机械共振点以及电机的转动惯量将发生很大的变化。通过采用变参数PID控制器+低通滤波器+陷波滤波器的全新设计,将控制器的参数作为姿态和负荷的函数进行切换,较好地解决了这一问题。实践表明该控制算法可以获得满意的控制效果。
There were non-linear and indetermination in AC servo system. It was more difficult to control when system was at low speed, and the delay in speed measurement was a potential risk to controller stability. When controlling an articulated manipulator, the inertia of some manipulator motors varied greatly with the posture of the manipulator. The resonance frequency miqht also vary considerably with changing posture or load conditions. Using gain scheduling PID controller, low-pass filters, and notch filters, one could switch the active controller parameters as a function of posture and load. After using complex controller, a satisfying control performance of the servo system could be gained. The experiment image definitely proved it.
出处
《微电机》
北大核心
2009年第2期50-53,共4页
Micromotors
基金
国家“863”计划项目(2006AA09A105)
中国石油大学青年基金(N0.0702)
