基于改进ESO的交流伺服系统FOPID定位控制

针对高炮炮控交流伺服系统高精度定位控制存在的外界干扰及诸多非线性因素,提出了基于连续光滑函数fan()的改进扩张状态观测器(ESO),并将其应用于分数阶PID控制器,即CS-ESO-FOPID。该控制器将所有外界干扰因素作为"总干扰"获取干扰实时量,并通过改进扩张状态观测器实现非线性因素的实时动态补偿。数字仿真证明,CS-ESO观测优于传统ESO观测,CS-ESO-FOPID的动态控制精度及对外部扰动的鲁棒性均优于FOPID控制,避免了基于传统ESO的分数阶PID易出现的高频颤振现象,从而验证了该控制策略的可行性和有效性。

FOPID Positioning Control of Servo System Based on Improved Extended State Observer

Aiming at High-precision positioning control of the servo system of antiaircraft gun has external disturbance and many nonlinear factors. An improved extended state observer which based on continuous functions (CS-ESO) is presented,and is applied to the fractional order PID controller, which calls CS-ESO-FOPID.All external interference factors are used as the "total interference" to obtain the real-time disturbance,and real time dynamic compensation of nonlinear factors by improved extended state observer is implanted.Through digital simulation CS-ESO,observation is superior to the traditional ESO observation,and CS-ESO-FOPID strategy dynamic control precision and robust are better than FOPID strategy. This new strategy avoids the high frequency flutter phenomenon which the traditional is ESO-FOPID easy to produce.Accordingly,the feasibility and effectiveness of the control strategy are verified.