【作者】 董翠英；

【导师】 陈娟；

【作者基本信息】 北京化工大学 ， 控制理论与控制工程， 2004， 硕士

【摘要】 伺服系统在低速工作时受到以摩擦力矩为主的非线性干扰 会出现低速不平稳现象 这种现象会严重影响系统的正常工作 使系统的低速性能受到损害 进而影响整个精密跟踪系统的低速性能指标 因此低速问题是转台伺服系统研制的主要课题之一本文研究学习了基于逆系统方法的内模控制理论 并且对一自由 度和二自由度的基于逆系统方法的内模控制的跟踪性能和抗干扰性能做了深入的理论分析 并进行大量仿真 通过仿真验证上述理论有效性和可行性基础上 提出采用基于逆系统方法的内模控制方法来解决伺服系统低速问题 采用这种控制方法的伺服系统具有良好的动态性能和跟踪效果 比伺服系统应用较多的神经网络前馈补偿控制有更好的低速跟踪性能 本文还对采用这种控制方法的伺服系统进行干扰抑制能力测试更多还原

【Abstract】 The main factor, which affects the performance of servo system inthe low speed range, is the nonlinear friction. Thus it affects theperformance targets of track system in the low speed range. So the servosystem low velocity problem is one of the main research domains. In this paper, the internal model control method based on inversesystem method is researched. And track performance and anti-jammingperformance of one-degree-of-freedom and two-degree-of-freedom of theinternal model control based on inverse system method have been analyzeddeeply. And a lot of simulations have made. Based on feasibility and validity of the theory through the simulations,the internal model control based on inverse system method is proposed tosolve the problems of servo system in the low speed range. There are gooddynamic track results and good performance. The control method have abetter performance of servo system in the low speed range compared with III<WP=5>北京化工大学学位论文the neural network compensation method . In this paper, anti-jammingperformance of the control system has been tested.更多还原