光电工程, 2008, 35 (7): 1, 网络出版: 2010-03-01
跟踪系统中多闭环控制模式的分析和实现
Analysis and Design of Multi-closed Loops Control Mode for Tracking Control System Based on Acceleration Feedback
多闭环控制 前馈控制 加速度反馈 扰动抑制 跟踪系统 multi-closed loops control feed forward control acceleration feedback disturbance suppression tracking system
摘要
实现高精度跟踪,尤其在外界干扰力矩下,必须增加系统刚度来提高系统的扰动抑制能力。提出将加速度反馈引入常规的跟踪系统控制方式中,实现了由电流环、加速度环、速度环、位置环构成的四闭环控制模式。高增益的加速度反馈为系统提供一个响应更快、带宽更宽的内环,克服了单纯速度反馈带宽窄的特性。首先从理论上分析和证明了该方法的意义,多闭环控制模式可以提高系统的刚度,从而增强系统的抗扰动能力;同时,在加速度反馈的基础上研制前馈控制器,能够进一步提高大速度目标的跟踪性能。在某一实际的系统中对多闭环控制模式进行了实验验证,结果表明:同以往的控制方法相比扰动抑制带宽由15Hz提高到30Hz;并且在10Hz以下频率获得了-30dB抑制能力。
Abstract
An Acceleration Feedback Control (AFC) for multi-closed loops control system is proposed to improve tracking performance in tracking control system, which can provide an inner loop with fast and wide bandwidth for the control system that is better than only velocity control loop. A feed forward controller based on acceleration feedback is important to track high velocity and acceleration targets because the control mode with AFC can suppress variations of system parameters. It is easy to implement the control algorithm in the high performance float digital signal processor. Experiments show that the proposed method is effective. The bandwidth of disturbance suppression is improved from 15 Hz to 30 Hz, and the suppression ability reaches -30dB under the frequency of 10 Hz.
唐涛, 黄永梅, 付承毓, 王强. 跟踪系统中多闭环控制模式的分析和实现[J]. 光电工程, 2008, 35(7): 1. TANG Tao, HUANG Yong-mei, FU Cheng-yu, WANG Qiang. Analysis and Design of Multi-closed Loops Control Mode for Tracking Control System Based on Acceleration Feedback[J]. Opto-Electronic Engineering, 2008, 35(7): 1.