基于ADRC的低速位置伺服系統(tǒng)及其仿真

低速位置伺服系統(tǒng)中的非線性摩擦力、參數(shù)攝動(dòng)以及外部擾動(dòng)等因素都會(huì)降低系統(tǒng)的精度. 本文對(duì)無刷直流電機(jī)低速位置伺服控制方法進(jìn)行了研究. 簡(jiǎn)要介紹了自抗擾控制器,利用Stribeck摩擦模型和二階自抗擾控制器構(gòu)建位置伺服系統(tǒng)并確定控制器參數(shù),最后與PD控制和滑?？刂七M(jìn)行比較仿真實(shí)驗(yàn). 實(shí)驗(yàn)結(jié)果表明,基于自抗擾控制的低速位置伺服系統(tǒng)具有較好的動(dòng)態(tài)和穩(wěn)態(tài)性能,對(duì)系統(tǒng)內(nèi)部參數(shù)攝動(dòng)和外部擾動(dòng)以及非線性摩擦都具有很強(qiáng)的魯棒性.
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?關(guān)鍵詞： 自抗擾控制;位置伺服;Stribeck摩擦模型???
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?Control and simulation of position servo system?with low speed based on ADRC
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?Abstract:
The phenomenon of nonlinear friction, disturbance and perturbation of the system, will have bad influence on precision.The control method forthe positionservo system with low speed was studied. First the ADRC (active disturbance rejection control) was introduced. The control system was developed based on the Stribeckfriction model and ADRC, and the means for adjusting the parameters of the controller were given in succession. Some simulation results were given compared with the PDcontrol and Sliding model control. These results show that the controller ensures good dynamic and static characteristics, and very good robustness under inner perturbation and external disturbance with nonlinear friction considered