摘要
针对转台伺服控制系统,提出了一种基于干扰观测器的改进内模控制方法(DIMC)。内模控制是一种新型的先进控制方法,设计思路是将对象模型与实际对象的输出差值作为反馈,控制器逼近模型的逆,从而达到控制效果。考虑到传统的内模控制器设计方法跟踪精度不足,引入微分器构造改进的控制器,提高系统的跟踪精度。在此基础上引入干扰观测器,对摩擦进行补偿,进一步提高系统的跟踪精度。仿真研究和实验结果表明,该控制方法可以有效地提高系统的跟踪精度,并对系统参数变化和力矩扰动具有更强的鲁棒性。
An improved internal model control（DIMC） based on Disturbance Observer was proposed for turntable servo control system.IMC is a novel advanced control method,whose design idea is to achieve satisfatory control effect by using the diffenence between outputs of object model and actual object as the feedback and let the controller approach to the inverse of the model.Taking into account that the traditional method of internal model controller lacked of tracking accuracy,differentiator was introduced to construct an improved controller to improve the tracking accurary.Then disturbance observer（DOB） was introduced to compensate the friction to further improve the tracking accuaray.Simulation result proves that the control scheme proposed effectively increases the tracking accurary and enhances the system robustness against parameter variation and distrubance.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2011年第8期1664-1667,共4页
Journal of System Simulation
基金
教育部新世纪优秀人才支持计划项目(NCET-07-0044)
关键词
内模控制
微分器
干扰观测器
转台伺服控制系统
Internal model control
differentiator
DOB
turntable servo control system
