摘要
针对2D舞台威亚系统机理模型较难建立,机电系统自身参数易发生摄动以及外界未知干扰等因素造成的威亚系统同步协调性能下降以至存在安全隐患等问题,根据反演控制强鲁棒性及响应速度快等优点,并结合速度矢量合成及位置偏差耦合同步方法,提出一种基于反演控制技术的舞台威亚系统同步协调控制方案。仿真结果表明,较之于传统的PI控制系统,所提出的控制方案有更好的动态性能和强鲁棒性,而且体现了更好的同步协调性能。
Aimed at solving synchronous coordination performance degradation problem, even the ex- istence of security risks and other issues of 2D stage wire system caused by the mathematical model is dif- ficult to establish, parameter perturbation problem and load disturbance, since the backstepping control has strong robustness and fast response, combined with velocity vector synthesis and position deviation coupling compensation method, a synchronous coordinating control method of stage wire system based on backstepping control technology is presented. The simulation results show that, compared with the PI control system, the control scheme that was presented shows better response and stronger robustness, it also reflects the better synchronous coordination performance.
出处
《工业仪表与自动化装置》
2017年第2期96-99,共4页
Industrial Instrumentation & Automation
关键词
2D舞台威亚
反演控制
协调同步
2D stage wire system
baekstepping control
synchronous coordinating
