【摘要】 首先忽略执行器的饱和,设计了能够满足系统性能要求的线性控制,然后设计了饱和补偿器降低饱和的影响,线性控制器使系统有较小的阻尼率以提高响应的快速性;当输出达到设定值时,非线性控制器使系统有较大阻尼率以降低超调量。线性控制器与非线性控制器合成总控制器,结合PID技术,能够实现高精度艰踪控制。本方法设计的控制器应用于伺服跟踪系统,仿真结果表明该方法是有效的。更多还原

【Abstract】 A new design method is proposed,which is to first ignore actuator saturation.A linear con- troller is designed to meet the performance specifications,and an anti-windup compensator is designed to weaken the influence of saturation.The linear part makes the closed-loop system with a small damping for quick response;the nonlinear part increases the damping of the close-loop system and reduces the overshoot.The composite controller composed of the linear part and the nonlinear part and PID con- troller ensure the closed-loop sysem to meet high-precision tracking need.The controller designed with the method can be applied to an actual servo system.Experimental results prove the effectiveness of the method.更多还原