摘要
本系统由十六位工业控制机、脉宽调速系统(PWM)、光电编码器三者组成。为实现快速精密定位,提出了将Bang-bang控制与速度非线性反馈相结合的控制原则,即小给定时采用速度非线性反馈;大给定时分成两段,当大偏差时采用Bang-bang控制,小偏差时采用速度非线性反馈,两段的切换由计算机软开关实现。文中叙述了上述控制的原理及其在饱和和高阶系统中的应用及控制原则的优越性,导出了两段切换的判别准则,并给出了仿真和实时控制的结果。
This positioning servo-system consists of a 16 bits microcomputer, PWM, and optocoders. In order to accomplish the positionting control fast and precisely, a Bang-bang control scheme combined with a non-linear velocity feedback is proposed. The Bang-bang is responsible for the large deviation, while the velocity feedback for the small deviation. The switching between these two states is determined by the microcomputer.The principles of non-linear feedback control and its applications to the saturated systems and high order systems are described, and the optimality of the above control principles is discussed. The discrimination criterion of the segment transformation is deduced. The results of simulations and real time control systems are illustrated.
出处
《自动化学报》
EI
CSCD
北大核心
1992年第3期306-314,共9页
Acta Automatica Sinica
关键词
定位系统
非线性反馈
B-b控制
Positioning servo-system
finite time settling response
non-linear feedback
Bang-bang control
