基于粒子滤波前馈补偿的电机伺服系统控制.pdfVIP

第 27 卷 第 27 期 中 国 电 机 工 程 学 报 Vol.27 No.27 Sep. 2007 2007 年 9 月 Proceedings of the CSEE ©2007 Chin.Soc.for Elec.Eng. 0258-8013 (2006) 27-0099-05 TP302 A 470 40 文章编号： 中图分类号： 文献标识码： 学科分类号： ⋅ 基于粒子滤波前馈补偿的电机伺服系统控制 1 2 1 胡明慧 ，王永山，邵惠鹤 （1．上海交通大学电子信息与电气工程学院，上海市 闵行区 200240 ； 2．同济大学机械工程学院，上海市 杨浦区 200092 ） Design of Feedforward Compensation for Motor Servo System Control Based on Particle Filter 1 2 1 HU Ming-hui , WANG Yong-shan , SHAO Hui-he (1. School of Electric and Electrical Engineering, Shanghai Jiaotong University, Minghang District, Shanghai 200240, China ； 2. Department of Mechanical Engineering, Tongji University, Yangpu District, Shanghai 200092, China) ABSTRACT: A new feedforward controller of particle filter is 关键词: 伺服系统；粒子滤波；二自由度；前馈控制；阶跃 proposed for the nonlinear non-Guassian filter problem in the 响应 motor tracking process. A two-degree-of-freedom control 0 引言 structure is designed for motor servo system. The setpoint tracking controller is designed in terms of the robust optimal 伺服驱动装置是数控机床、工业机器人等高性 performance objective. Then according to the load disturbance 能机电一体化产品的重要组成部分，也是构成工厂 rejection requirement during the system steady operation, a 自动化不可缺少的基本单元。电枢控制的交流伺服 feedforward controller is configured between the process input 电机在控制系统中广泛用作执行机构，用来对被控 and plant input, adopting the