交流伺服系统的计算机鲁棒控制

【作者】 杨小玲；

【导师】 侯远龙；

【作者基本信息】 南京理工大学 ， 机械电子工程， 2003， 硕士

【摘要】 本论文旨在改进某型号火炮的随动系统，以满足该系统在负载转矩和阻力矩变化较大时对继续保持良好快速性、准确性及稳定性的要求。 主要内容包括对火炮所采用的交流伺服系统进行硬件设计、软件编写及协同调试。硬件部分致力于伺服放大器的设计，并建立了相应的系统数学模型。鉴于系统工作过程中存在的各种不确定性因素，系统控制器的设计采用了H_∞鲁棒控制算法，以抑制系统的外界扰动以及被控对象的模型不确定性，并进行了系统仿真和试验台试验研究。 仿真和试验结果表明，本文基于H_∞控制算法设计的控制器可以使系统具有良好的跟踪特性和对系统参数摄动的鲁棒性，可以有效地抑制负载变化和外界干扰，满足了系统的要求。更多还原

【Abstract】 This paper is based on an artillery servo system which requires high control qualities such as the speeding, accuracy, and stability under hard circumstances like the great variation of the load and the huge changes of the torsion.The main contents of this paper include the hardware design of the AC servo system, software programming and the adjustment of the whole system. The part of the hardware emphasizes on the design of the servo amplifier, and presents the model of the servo system. And considering the uncertain factors that the system may meet during the operation, a H robust control algorithm is employed when devise the controller of the system to compensate disturbances and unmodeled factors of the system. Finally, simulation and experiments are done to test the system’s robustness and performance.According to the results of the simulation and experiments, it is known that with the controller which is depended on the H algorithm the system is self-adaptive and has the robust character for the change of the model parameters. And the outside inferences and load variation can be retained effectively.更多还原