摘要
建立了伺服系统的数学模型,分析了伺服系统在理想情况及有干扰情况下的位置环跟踪性能。根据伺服系统运行的重复性特点,将迭代学习控制理论应用于伺服系统。设计中在伺服系统位置环采用PID控制的基础上加入开环PD型迭代学习控制器,传统PID控制可保证系统的稳定运行,迭代学习控制器通过迭代学习减小系统的位置误差。最后在simulink软件中进行了仿真,仿真结果表明迭代学习控制能够提高伺服系统的跟踪性能。
A mathematical model for servo system was established,and the tracking performance of servo system in the ideal and interferential cases was analyzed.According to the repeatability of operating characteristics of servo system,the theory of iterative learning control was applied,and a PD-type iterative learning controller was added on the basis of using traditional PID control in the position-loop of servo system to ensure a stable operation of control system and improve the tracking performance.Simulation results demonstrate that iterative learning control can improve the tracking performance of servo system.
出处
《化工自动化及仪表》
CAS
北大核心
2011年第3期252-256,共5页
Control and Instruments in Chemical Industry
基金
科技部"863"项目(2008AA04Z129)
国家自然科学基金资助项目(60964004
60864004
60804066
60904049)
江西省自然基金资助项目(2009GZS0014
2009GZS0016)
江西省教育厅科研基金资助项目(GJJ10456)
