【摘要】 针对传统永磁同步电机(PMSM)伺服系统级联式控制结构存在位置调整时间长的问题，本文综合考虑了位置指令采样处理和机械摩擦特性，通过加入指令卷积预处理，提出了具有充分前馈特点的PID-TF位置控制结构，研究了控制器参数整定规律，设计了克服稳态误差的变积分增益自适应算法。仿真和实验结果表明，本文提出的方法，能有效提高伺服系统位置响应性能。更多还原

【Abstract】 There exists long positioning adjustment time for the traditional permanent magnet synchronous motor(PMSM) servo system based on PI cascade structure. Through considering friction characteristics and implementing convolution preprocess for position reference, the paper proposed a PID-TF position control structure with full state feedforword. Control parameters tuning method of PID-TF and variable gain adaptive algorithm to overcome steady error were introduced. The simulation and experimental results verified the effectiveness of the proposed algorithm and the response performance of servo system can be improved.更多还原