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针对直线伺服系统存在的外部扰动、系统参数变化、非线性摩擦等不确定性因素对系统的影响,采用零相位误差跟踪控制器(ZPETC)和干扰观测器(DOB)相结合的控制方法,通过ZPETC来提高系统的快速跟踪能力,减小系统的跟踪误差,并通过DOB来减小不确定因素对系统的影响,从而同时提高系统的定位精度和鲁棒性。仿真结果表明,所提出的控制方案是有效的,能够明显提高系统的定位精度。
Aiming at the influence of uncertainties such as external disturbances, system parameter changes and nonlinear friction on linear servo system, a control method based on Zero Phase Error Tracking Controller (ZPETC) and Disturbance Observer (DOB) ZPETC to improve the system’s fast tracking ability, reduce the system’s tracking error, and through the DOB to reduce the impact of uncertainties on the system, so as to improve the system’s positioning accuracy and robustness. Simulation results show that the proposed control scheme is effective and can significantly improve the system’s positioning accuracy.