| 基于摩擦补偿的伺服转台自抗扰控制策略研究 |
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| 引用本文： | 吴 旭,张 倩,王群京,崔宁豪.基于摩擦补偿的伺服转台自抗扰控制策略研究[J].微电机,2021,0(5):62-66+85. |
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| 作者姓名： | 吴 旭 张 倩 王群京 崔宁豪 |
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| 作者单位： | （1.安徽大学电气工程与自动化学院，安徽合肥，230601；2.高节能电机及控制技术国家地方联合工程实验室（安徽大学），安徽合肥，230601；3.教育部电能质量工程研究中心（安徽大学），安徽合肥，230601；4. 安徽省工业节电与用电安全实验室（安徽大学），安徽合肥，230601） |
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| 摘 要： | 摩擦非线性扰动是影响伺服跟踪系统控制性能的主要因素之一。为提高转台伺服系统的跟踪性能，提出了一种基于Elastoplastic摩擦模型的改进自抗扰控制方法。首先，建立了转台伺服系统的状态空间模型；其次，采用Elastoplastic摩擦模型描述系统中的非线性摩擦扰动，并用遗传算法辨识了模型参数；最后，基于辨识获得的Elastoplastic摩擦模型，将位置误差和速度误差作为不同的参数分别应用到扩张状态观测器，设计了一种改进型自抗扰控制器。未引入摩擦补偿时的速度跟踪误差平均值约为0.0024 rad/s，而加入补偿后的速度跟踪误差平均值减少为0.00147 rad/s。仿真和实验结果表明，本文提出的控制方案能够提高转台伺服系统的跟踪性能，验证了所提出控制方法的有效性和鲁棒性。
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| 关 键 词： | 机电伺服转台 Elastoplastic摩擦模型 遗传算法 改进自抗扰控制策略 |
Research on Active Disturbance Rejection Control Strategy of Servo Turntable Based on Friction Compensation |
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| WU Xu,ZHANG Qian,WANG Qunjing,CUI Ninghao.Research on Active Disturbance Rejection Control Strategy of Servo Turntable Based on Friction Compensation[J].Micromotors,2021,0(5):62-66+85. |
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| Authors: | WU Xu ZHANG Qian WANG Qunjing CUI Ninghao |
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| Affiliation: | (1. School of Electrical Engineering and Automation, Anhui University, Hefei, 230601, China; 2. National Engineering Laboratory of Energy-saving Motor & Control Technology, Anhui University, Hefei, 230601, China; 3. Engineering Research Center of Power Quality, Ministry of Education, Anhui University, Hefei, 230601, China; 4. Industrial Power-saving and Electricity-safety Laboratory, Anhui University, Hefei, 230601, China) |
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| Abstract: | Friction nonlinear disturbance is one of the main factors that affect the control performance of servo tracking system. In order to improve the tracking performance of turntable servo system, an improved active disturbance rejection control method based on Elastoplastic friction model is proposed. Firstly, the state space model of turntable servo system is established. Secondly, the nonlinear friction disturbance in the system is described by Elastoplastic friction model, and the model parameters are identified by genetic algorithm. Finally, based on the Elastoplastic friction model obtained by identification, the position error and velocity error are applied to the extended state observer as different parameters respectively to design the improved active disturbance rejection controller. The mean value of velocity tracking error without friction compensation is about 0.0024 rad/s, while the mean value with compensation is reduced to 0.00147 rad/s. Simulation and experimental results show that the proposed control scheme can improve the tracking performance of the turntable servo system, and the effectiveness and robustness of the proposed control method was verified. |
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| Keywords: | Electromechanical servo turntable Elastoplastic friction model Genetic algorithm Improved ADRC strategy |
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