【作者】 靳添絮； 刘立； 陈树新； 卢月品；

【Author】 JIN Tianxu,LIU Li,CHEN Shuxin,LU Yuepin Vehicle Engineering institute,Beijing.University of Science&Technology Beijing 100083,P.R.China

【机构】 北京科技大学车辆工程研究所；

【摘要】 针对伺服系统中存在较强的外部干扰、模型变化、非线性环节和大惯量特性,以及快速、稳定、高精度的控制要求,利用自抗扰控制技术中的扩展状态观测器补偿系统中的不确定因素以及高阶变量,将系统简化为积分串联型,基于简化后的模型用幂次趋近律设计控制律,得到了基于扩展状态观测器的变结构控制器。扩展状态观测器为系统未建模动态提供高频通路,在一定程度上消除了抖振。将此控制器应用于伺服系统测试平台,仿真结果以及实验证明,在伺服系统中,此控制器相较经典变结构控制器以及工程化PID控制器都取得了更好的控制效果。更多还原

【Abstract】 Considering the characteristics of the servo system,such as disturb,nonlinearity and high inertia,variable structure controller(VSC)based on extended state observer(ESO)is designed for the aim of quick,stable and high-accuracy controlling process.The disturbances and high-order factors are estimated and compensated using ESO.The dynamic compensation reduces the motion system to approximately a triple integrator which can be easily controlled using VSC.And because ESO provides a high-frequency path for the dynamic state which is not modeling,the chatter of VSC is reduced.Through the test in the servo test system,it is shown that this controller is superior to the engineering PID and general VSC.更多还原