基于等价输入干扰补偿与直流电机定位控制.docVIP

基于等价输入干扰补偿的直流电机定位控制* 方明星1，2，吴　敏1，佘锦华3 （1　中南大学信息科学与工程学院　长沙　410083　中国；2　安徽师范大学物理与电子信息学院芜湖　241000　中国；3　东京工科大学计算机科学学部　东京　192-0982　日本） 摘　要：针对直流电机的高精度定位控制问题, 引入等价输入干扰的设计思想设计控制器. 该设计方法通过推测一个等价输入干扰, 以消除各种扰动对系统输出产生的影响, 实现对给定位置指令的高精度定位跟踪. 在基于等价输入干扰补偿的控制系统中, 采用分离定理将系统分成状态反馈子系统和由状态观测器与低通滤波器构成的子系统两部分进行单独设计, 其中的状态观测器与低通滤波器子系统应用了完全调节方法进行设计. 仿真和实验结果表明这种方法对于抑制干扰、实现高精度定位的有效性。 关键词：精确定位; 直流电机; 等价输入干扰; 抗干扰; 分离定理; 完全调节 中图分类号：TP341　　文献标识码：A　　国家标准学科分类代码：510.80 Positioning control of DC motor based on compensationof equivalent-input-disturbance Fang Mingxing1,2, Wu Min1, She Jinhua3 （1 School of Information Science and Engineering, Central South University, Changsha 410083, China; 2 College of Physics and Electronic Information, Anhui Normal University, Wuhu 241000, China; 3 School of Computer Science, Tokyo University of Technology, Tokyo 192-0982, Japan） Abstract：Combining with compensation of equivalent-input-disturbance, a controller is proposed for high-precision positioning control of DC motor system. In this controller, an equivalent input disturbance is predicted to reject disturbances added to the system and to guarantee high-precision positioning tracking of the given trajectory. In the control system configuration, the system can be separated into a state feedback subsystem and another subsystem that consists of a state observer and a low-pass filter according to separation theorem. Both of these two subsystems can be designed independently. The subsystem of state observer and low-pass filter is designed by employing the concept of perfect regulation. Simulation and experimental results demonstrate the validity of the method in rejecting disturbances and guaranteeing high-precision positioning control. Key words：precise positioning; DC motor; equivalent input disturbance; disturbance rejection; separation theorem; perfect regulation 1　引　　言 一些精密加工和装配等生产过程要求控制系统能快速且高精度地进行定位，在实现缩短产品加工时间的同时，还要提高产品的加工精度。要达到这个目的，必须在跟踪给定位置指令的同时，能有效地抑制各种干扰信号对系统输出产生的影响。为了在系统控制过程中能尽快消除干扰，相关科研工作者研究了许