摘要
电动伺服舵机控制系统采用全数字三环控制策略,分别为位置环、速度环和电流环;作为内环的电流环,应具有良好的稳态和动态特性,其输出电流要求快速准确地跟踪给定电流,以保证舵机控制系统高性能位置伺服的要求;在传统的增量式积分分离PI控制算法的基础上,引入一D型迭代学习控制前馈环节,提高了电流跟踪的快速性和跟踪精度,建立了系统的数学模型并在MATLAB上进行了系统仿真;仿真结果表明,引入D型迭代学习控制后,电流环的稳态和动态特性良好,保证了输出电流跟踪的快速性、精确性。
The fully digital signal three-loop control strategy is adopted for actualor servo system. To guarantee the request of high accuracy position servo for system, the good steady and transient characteristics of enrrent loot） should be possessed, and the output current must foIlow the given current quickly and truly. Feed-forward scheme of D -type iterative learning control （II.C） law which is based on incrementaI integral-separated PI control scheme is introduced to improve the current＇s tracking performance. ResuIts of the simulation indicate that by introduction of D-type iterative learning control scheme, the current loop has excellent steady and dynamic performance, and guarantees the speediness and accuracy of current＇s tracking performance.
出处
《计算机测量与控制》
CSCD
2007年第3期354-356,共3页
Computer Measurement &Control
基金
航空科学基金资助项目(04F53036)
