摘要
为了使得直流伺服系统目标值跟踪特性与外扰抑制特性同时达到最佳,提出了基于干扰观测器二自由度控制。针对直流伺服系统输入为周期性信号时的跟踪问题,采用重复控制与分数阶PID结合的复合控制,以提高系统对周期信号的跟踪精度,同时加入了分数阶形式的滤波器增加了系统的稳定性;为了能够有效克服干扰、模型的不确定性等问题,通过干扰观测器将外部的扰动以及由参数不准确带来的误差引入到输入端,并对观测器输出进行低通滤波处理,能很好的使系统在低频段对干扰因素具有鲁棒性,在高频范围内也可以抑制噪声信号。仿真结果表明,所提出的方法不仅可以使直流伺服系统具有较好的目标值跟踪性能,而且对负载扰动和参数摄动具有很强的鲁棒性。
Io order to make the target tracking characteristics of DC servo system and the external disturbance suppression characteristics reach the best at the same time,two-degree-of-freedom control based on disturbance observer is proposed.Aiming at the tracking problem when the input of DC servo system is periodic signal,the compound control combined with fractional PID is adopted to improve the tracking accuracy of the periodic signal.At the same time,the fractional filter is added to increase the stability of the system.In order to effectively overcome the disturbance and the uncertainty of the model,the disturbance observer is used to compensate the disturbance and realize the effective suppression of the disturbance.The simulation results show that the proposed method can not only make the DC servo system have better target tracking performance,but also has strong robustness to disturbance.
作者
孔祥君
邵雪卷
刘丽琴
KONG Xiang-jun;SHAO Xue-juan;LIU Li-qin(School of Electronic and Information Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China)
出处
《太原科技大学学报》
2023年第3期219-224,共6页
Journal of Taiyuan University of Science and Technology
基金
山西省基础研究计划(201901D111263)
山西省研究生教改项目(2019JG165
2018JG79)。
关键词
二自由度
重复控制
干扰观测器
分数阶滤波器
two degrees of freedom
repetitive control
disturbance observer
fractional filter
