直流位置伺服系统改进型IMC-PI控制方法

针对直流位置伺服系统,提出了一种改进型IMC-PI控制方法。引入作用函数,并将其与IMC-PI控制器串联,构成改进型PI控制器,其中IMC-PI控制器根据内模控制原理进行设计,作用函数为系统偏差的微分表达式,其阶次的选择应保证系统开环传递函数为严格正则。改进IMC-PI控制可使系统的调节过程分为作用函数趋近零和保持为零的两个阶段,从而保证系统偏差按照作用函数等于零确定的轨迹趋近于零。仿真结果表明所提方法可使系统具有良好的动态响应性能和鲁棒性。另外,利用Qstudio RP实验平台跟随跟随1+sin(10t)rad正弦信号时,IAE为0.14 rad·s,实验结果表明该方法可有效改善伺服系统的性能。

Improved IMC-PI Control for DC Position Servo System

An improved IMC-PI control method is proposed for DC position servo system. An action function is introduced into the design of the controller,and it connects a PI controller in series. The IMC-PI controller is deduced based on the principle of internal model control (IMC). The action function is the differential expression of the system error,and its order is chosen to ensure that the open-loop transfer function of the system is strictly proper. The regulating process of the control system includes two stages,which are action function approaching zero and remaining at zero,respectively. So, it can ensure that the system error tends to zero according to the track determined by the action function. The simulation results show that the proposed method could provide a better dynamic response performance and robustness. In addition,the integral of absolute value of error (IAE) is 0.14 rad·s when the position signal of 1+sin (10t)rad is tracked. The experimental results show that the method could effectively improve the performance of servo system.