摘要
将微分跟踪器(Tracking Differentiator,简称TD)应用到数字交流随动系统位置信号的处理中,采用TD对指令信号和反馈信号进行跟踪,使之转化为平滑的信号,并对其微分信号进行分离,用于构造前馈控制和误差控制的控制量成分;探讨了采用TD的非线性位置控制器的原理及应用。试验结果表明,该方法简单可行,采用TD的位置控制器可实现信号的预处理,保证了前馈信号和指令反馈的平滑性;同时,采用非线性的PID组合控制,保证了控制器具有很好的控制品质、对不确定对象有良好适应性和鲁棒性,使比例、微分和积分充分发挥出各自的功效,缓解了随动系统中精度和快速性的矛盾,大大改善了系统闭环响应的品质,提高了系统性能。
Tracking Differentiator is applied to process the digital alternating servo system＇s position signal.Tracking differentiator is used to track command signal and feedback signal,transfer them to smooth signal and separate the differentiator signal from them,which builds the element of front feed and en＇or control.Based on tracking differentiator,the principle of nonlinear state en＇or feedback controller is discussed.The proposed control system is successfully tested by means of experiment.It is shown that the design is easy to achieve,the position controller using tracking differentiator can pretreatment the input signal, so the smoothness of the feed forward signal and feed back signal is to make certain.And the nonlinear PID controller is applied,which ensures the controller have high tracking precision,quick response time and favorable control effect as well as preferable robustness to model＇s uncertainty and noise measurement.It solves the contradiction of matching among parameters between the position accuracy and responds rapid, and the system dynamic performances are improved as well.
出处
《电力电子技术》
CSCD
北大核心
2008年第9期68-69,72,共3页
Power Electronics
关键词
交流随动系统
信号处理
跟踪/跟踪微分器
alternating servo system
signal processing
tracking / tracking differentiator
