利用非线性控制技术改善伺服系统的性能.pdf

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EL ECTRIC DRIV E 2009 Vol. 39 No. 2 电气传动 2009 年第 39 卷第 2 期
利用非线性控制技术改善伺服系统的性能
曾佳福,程国扬
(福州大学电气工程与自动化学院,福建福州 350108)
摘要:针对典型电机伺服系统的性能要求,提出一种基于复合非线性反馈(CNF) 控制和扩展状态观测器
( ESO) 的控制方案。在控制方案中,CNF 包含线性和非线性控制两部分,分别实现快速的响应和抑制超调,
从而提高控制系统的瞬态性能;通过 ESO 对伺服系统中的未知状态和扰动进行估计及补偿,消除扰动可能带
来的稳态跟踪误差。此控制方案被用于球杆系统的定位控制,实验结果表明控制系统可以实现对目标位置的
快速和准确的定位,并具有较强的性能鲁棒性。所设计的伺服控制方案可推广应用到其他伺服系统。
关键词:伺服系统;瞬态性能;非线性控制;扩展状态观测器
中图分类号: TP273 文献标识码:A
Improvement of Servo System Performance by Using Nonlinear Control Techniques
ZEN G Jia fu , CH EN G Guo yang
( College of Electrical Engineering and A utomation , Fuz hou University , Fuz hou 350108 , Fujian, China)
Abstract :A new control scheme was proposed , bines posite nonlinear feedback ( CNF)
control technology with an extended state observer ( ESO) . The controller aims to meet the performance speci
fication in typical servo systems. In the control scheme , F consists of a linear cotrol part for achieving
fast response and a nonlinear control part for suppressing the overshoot , so as to improve the transient per
formance. The ESO is designed to estimate pensate the unknown states and the unknown disturbance
in the servo system , which effectively removes the static tracking error that would be caused by disturbances
pensation. The control scheme is then applied to a ball beam system for positioning