摘要
针对常规三环式伺服系统抗扰性较弱、跟踪精度差等不足,借助跟踪微分器和负载观测器对常规伺服系统进行优化设计。利用自抗扰控制技术中的跟踪微分器单元来规划运动轨迹和获取负载突变信息,同时引入负载观测器进行慢速的负载波动的观测。实验结果表明:新设计伺服系统的抗扰性得到了很大改善,在提高跟踪精度、减小机械冲击等方面也取得了更好效果。
In order to solve the problem of weak anti-disturbance and poor tracking accuracy of conventional three-ring servo system, this paper optimizes the conventional servo system with the aid of tracking differentiator and load observer. The tracking differentiator unit of anti-disturbance control technology is used to plan the trajectory and acquire the information of load mutation, and the load observer is introduced to observe the slow load fluctuation. The experimental results show that the anti-disturbance performance of the new designed servo system is greatly improved, and better effect is obtained in improving the tracking accuracy and reducing the mechanical impact.
作者
许永衡
李波
Xu Yongheng;Li Bo(Weapon Equipment Information&Control Center,Automation Research Institute Co.,Ltd.of China South Industries Group Corporation,Mianyang 621000,China)
出处
《兵工自动化》
2021年第9期54-58,共5页
Ordnance Industry Automation
关键词
跟踪微分器
负载观测器
伺服系统
tracking differentiator(TD)
load observer
servo system
