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

摘要：

在直流力矩电机驱动的伺服系统中,由于存在诸多非线性因素和随机性因素,所以致使模型难以准确建立,各类影响因素不能被准确补偿,从而降低了系统仿真分析的有效性和实际应用的控制精度。针对此,引入自抗扰算法,即根据直流力矩电机伺服系统的特性设计自抗扰控制器,综合在线估计,补偿影响因素,即将所有影响因素归结为一个总扰动进行在线观测和补偿,以期进一步提高伺服精度。通过对系统施加苛刻的干扰条件进行仿真研究,根据分析仿真结果整定出控制器参数。为了验证控制算法的有效性,将整定好参数的控制器应用于直流力矩电机驱动的转台内框上进行实验。实验结果表明,基于自抗扰算法控制的转台内框获得了很高的动态跟踪性能,且鲁棒性强,从而验证了所提出方法的可行性。

关键词: 力矩电机, 转台, 自抗扰, 伺服控制, 扰动补偿