| 基于前馈控制与反馈控制的位置伺服研究 |
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| 引用本文： | 周承仙,富巍.基于前馈控制与反馈控制的位置伺服研究[J].火力与指挥控制,2016(12). |
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| 作者姓名： | 周承仙 富巍 |
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| 作者单位： | 厦门理工学院电气工程与自动化学院,福建 厦门 361024;福建省高校机器人工程研究中心,福建 厦门 361024 |
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| 基金项目： | 福建省自然科学基金(2014J01254)，福建省教育厅A类项目(JA14232)，福建省科技计划重大基金资助项目(2014H0048) |
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| 摘 要： | 针对机械臂动态惯量变化大,伺服控制电机定位精准、响应速度快等需求,位置环采用前馈控制和传统PID反馈控制相结合技术,建立控制系统的数学模型和控制策略,搭建了无刷直流电机全闭环控制系统的硬件。该伺服控制系统在参数变化、建模不准确时具有更高的动静态性能和鲁棒性。实验结果验证,使用位置前馈控制策略具有快速的动态响应和高精度定位特性。本伺服控制系统能够克服传动机构的间隙,可应用于关节机器人控制系统和随动设备中,具有广泛的应用前景。
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| 关 键 词： | 前馈控制 位置环 无刷直流电机 |
Study on Position Servo Based on Feedforward Control and Feedback Control |
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| Abstract: | A technology combining feedforward control with PID feedback control is adopted for position loop to establish mathematical model and control strategy of the control system and set up a hardware experimental program for the fully-closed current loop control system of brushless D C motor with respect to big changes of dynamic inertia of the mechanical arm,and accurate positioning as well as fast response speed of servo control motor. The servo control system has higher dynamic and static performance and robustness in case of parameter change and existing non-modeling error. The experimental result shows that using position feedforward control strategy is characterized by fast dynamic response and high-accuracy positioning. As the servo control system can avoid the clearance of transmission mechanism,it can be applied to articulated robot control system as well as follow-up devices and has broad application prospects. |
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| Keywords: | feedforward control position loop brushless DC motor |
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