关键词: 力矩电机, 转台, 自抗扰, 伺服控制, 扰动补偿

Abstract:

In a servo system driven by DC torque motor,  it is difficult to build models because there are several nonlinear and random factors and it is hard to compensate them, thus the control precision in simulation analysis and practical applications will be reduced. Hence, ADR algorithm was adopted to further improve servo precision for servo system driven by DC torque motor, in which the comprehensive disturbance instead of all factors was observed and compensated simultaneously. Through simulation study by building system model with extreme disturbance condition and comparison of different simulation results, the parameters for ADR algorithm were tuned. Real experiments with well tuned parameters was carried out to verify the validity of the algorithm on flight simulator table inner-axis driven by DC torque motor. The experimental results show that a high dynamic tracking performance is achieved and robustness of ADR algorithm is strong. Thus, to tune parameters of algorithm based on nominal model can be used in practical control systems.  

Key words: torque motor, flight simulator table, active-disturbance-rejection(ADR), servo control;disturbance compensation