新型Smith预估控制在ATP伺服系统中的应用

为了提高空间光通信的捕获、跟踪与瞄准系统的跟踪精度,首先通过对ATP伺服系统系统进行结构分析:针对粗跟踪系统的传输特性和电机滞后,采用SISO补偿器使系统的响应速度明显加快;针对精跟踪系统的传输特性和快速倾斜镜的迟滞特性,提出了一种新型Smith预估控制方法,利用MATLAB仿真软件进行仿真,并与多种传统的PID控制系统进行比较.结果表明,新型控制方法不但具有Smith预估器对时滞有效控制的优点,更是显现出PID控制、PI控制、PD控制的良好匹配效果,能够很好地解决纯时滞造成的不稳定性,而且具有较好的鲁棒性和抗干扰性.     

时滞系统的二自由度Smith预估控制研究

针对典型的工业过程控制对象,文中结合内模控制原理,为时滞控制系统设计了一种仅有两个滤波参数的二自由度Smith预估控制器,通过两个可调参数的调整能使系统同时具有良好的目标值跟随特性和干扰抑制特性,并结合Matlab仿真实验证明了其的有效性。     

改进的Smith预估器在温度控制系统中的应用

针对温控系统的大纯滞后特性，提出了一种改进型的Smith预估器。该方法将设定值响应与负载扰动响应分开，能有效地作用于带积分环节的对象，并且能克服大纯滞后对系统稳定性的影响。其实现简单，可靠性好。     

一种基于时滞辨识的模糊Smith控制

利用信号处理中的互相关技术可以对声发射波之间的时间延迟进行测量的功能,实现对变化的时滞参数的跟踪,并将其同模糊控制以及Smith预估控制相结合,形成了一种基于时滞辨识的模糊Smith控制算法,对此算法进行仿真研究。仿真结果证明了此算法的有效性。     

带Smith预估器的预测PID控制器的设计

设计了一种基于广义预测的思想的PID参数整定的改进算法。利用阶梯式控制策略,有效地减小参数整定中的计算复杂性,并能更方便地通过阶梯因子对所得PID控制器的控制性能进行调节。另外,文中对大延时系统的参数整定误差进行了分析,并通过引入Smith预估器改善了这类系统的参数整定效果。仿真实例说明了上述算法的有效性。     

雷达天线伺服系统自适应离散控制探究

为了提高雷达系统的性能,要求雷达天线伺服控制系统稳定性高、动态特性好、稳态误差小以及鲁棒性强。针对如上需求,提出了一种自适应离散控制方案,它由位置反馈控制器、自适应零相差前馈控制器（ZPETC）和自适应零相差滤波器（ZPEF）组成。计算机仿真结果表明,所提出的控制方案可实现雷达天线快速、精确的跟踪,而且具备针对参数摄动的较强适应性。     

基于二自由度内模控制的PID参数整定方法研究

研究了一种二自由度内模控制,并把它用于PID控制器的设计和参数整定,称之为二自由度内模PID。实际仿真证明,通过设置两个可调参数分别调整系统的动态性能和抗干扰特性,这种方法能够兼顾两种性能,弥补了常规内模PID的缺陷。     

一种鲁棒性的降阶MRAC算法及在液压伺服系统中的应用

本文从提高模型参考自适应控制(MRAC)系统的鲁棒性要求出发,提出了一种用前置反馈来克服对象未建模特性的方法。并提出了三阶的对象跟踪二阶参考模型的一种新的自适应算法。在液压位置伺服系统MRAC的应用中,通过仿真验证了该系统具有鲁棒性强、控制精度高的优点,因而本文的方法具有一定的工程实现价值。     

Smith预估补偿在随动系统教学中的探讨

针对位置传动系统的高速响应性和机械负载的低频强扰动,本文设计了Smith预估补偿调节器,分析了预估补偿对输入信号的跟随性和对扰动信号的抑制能力。     

Two-degree-of-freedom control with robust feedback control for harddisk servo systems

A two-degree-of freedom (2 DOF) control structure is proposed for read/write head servo systems of hard disk drives (HDDs). This structure is applied to both track seeking and track following, and makes mode switches found in conventional HDD servo systems unnecessary. Two innovative features introduced in the paper are: 1) a new method for generating the reference signal for track seeking and 2) two robust feedback control schemes for rejection of disturbances; one scheme uses a disturbance observer (DOB), and the other uses adaptive robust control (ARC). Simulation results show that the 2 DOF structure with ARC provides better performance than either the conventional servo system with mode switches or the 2 DOF structure with DOB. Experimental results show the advantage of the new reference generation method and the use of the DOB-based robust controller     

Accurate contour control of mechatronic servo systems usingGaussian networks

This paper presents a method of contour control of mechatronic servo systems by using neural networks. The neural network learns the inverse dynamics of the mechatronic servo system. The input data for the mechatronic servo systems are modified from objective trajectories by using the neural network. The Gaussian network is adopted to construct the inverse dynamics of the mechatronic servo system because the Gaussian function is well defined, and its structure and initial parameters can be systematically selected such that the initial network approximates the inverse dynamics of the mechatronic servo system. The actual input/output data of the mechatronic servo system are used for the learning of the Gaussian network. Effectiveness of the proposed method is assured by experimental results of contour control of an X-Y table     

A new technique for robust control of servo systems

The robust controller has very simple structures and can be divided into two separate parts: a servo controller and an auxiliary controller. The two controllers are designed independently. The function of the auxiliary controller is to cancel out the plant uncertainties directly without the use of the high loop gain principle. Interpretation of robot controller as a signal-synthesis adaptive controller is given. Practical implementation issues of the auxiliary controller are discussed. Simulations of a design example with large parameter uncertainty, nonlinearity, and external disturbance are presented to demonstrate the effectiveness of the design technique. This technique is further tested with success in an experimental study of joint position control of a PUMA 560 robot arm     

基于模型预测控制的大口径快摆镜随动系统

为了满足地基大口径望远镜精密稳像系统的需求,对大口径快摆镜(FSM)的控制方法进行了研究。为了解决三促动器FSM的运动解耦为系统辨识带来的困难,通过解析法和系统辨识法相结合建立了FSM的传递函数模型。依据该模型,设计了PID控制器与模型预测控制器(MPC),采用仿真和实验两种方式比较了两种控制器的效果。仿真结果表明,在受到阶跃扰动后,MPC控制器的恢复速度是PID控制器的45倍。在50 Hz正弦信号下,由于FSM的大惯量特点,PID控制器有严重的时滞,而MPC控制器能以1.224×10^-6″的误差稳定跟随。在噪声抑制方面,对实时加入10%幅值噪声的随机信号,MPC控制器的噪声抑制效果是PID控制器的13.3倍。实验结果表明,MPC控制器能以0.430″的误差稳定跟随50 Hz正弦信号,其跟踪精度是PID控制器的3.212倍,采用MPC控制器的快摆镜能满足快摆镜高带宽和高精度的需求。     

A study on position servo control systems by frequency-lockedtechnique

A frequency-pumped controller (FPC) is presented that processes the position servomechanism by the frequency-locked technique. With the proposed FPC, a position/voltage (P/V) transducer, and a voltage-controlled oscillator (VCO), a frequency-locked position servo (FLPS) control system is established. Mathematical models for the FPC and for the FLPS are constructed, and their stability criteria for in-lock and for out-of-lock cases, respectively, are derived. Computer simulation and experimental results confirm the theoretical prediction that the proposed FLPS can provide real-time control, good stability, higher resolution, and higher precision     

改进Smith预估时延补偿的模糊网络控制系统研究

在网络控制系统中,针对通过网络进行数据传输时产生网络诱导时延使得系统性能恶化的问题,提出一种改进Smith预估器的模糊控制方法。在控制器端引入改进的Smith预估控制器,解决被控对象模型不匹配的问题,同时,增大系统的截止频率,得到较快的系统响应。在控制器设计中采用模糊控制算法将控制器设计为模糊控制器,模糊控制器是一种无需被控对象精确数学模型且采用模糊集合论的语言控制器,能够取得较好的控制效果,具有较强的鲁棒性。最后通过仿真,验证了该方法的有效性。     

An optimal variable structure control with integral compensationfor electrohydraulic position servo control systems

An approach using variable-structure control with integral compensation is presented for an electrohydraulic position servo control system to achieve accurate servo tracking in the presence of load disturbance and plant parameter variation. Simulations show that the proposed approach may give a rather accurate servo-tracking result and is fairly robust to plant parameter variation and load disturbance     

支持向量机在广义预测控制中的应用

在推导了广义预测控制算法以及支持向量机算法的基础上,把两者结合起来,将支持向量机的系统辨识功能应用于广义预测控制算法中,提出了支持向量机在广义预测控制中的应用,可以解决广义预测控制在现实问题中遇到的一些问题。利用Matlab工具箱搭建仿真平台并进行仿真实验,结果证明了将支持向量机应用于广义预测控制是可行的。     

Modeling and experimental validation of new two degree-of-freedom piezoelectric actuators

This study presents innovative two-degree-of-freedom piezoelectric actuators, which apply piezoelectric buzzers to play as a driving source. Under piezoelectric force and dry friction, the piezoelectric actuators not only can move in the Z-axis direction, but also rotate along the Y-axis. The Z-axis displacement can reach 62 mm and the rotation angle along the Y-axis can reach 270°. Compared with the literature, this innovative piezoelectric actuator design easily and rapidly achieves one degree-of-freedom translation and one degree-of-freedom rotation. Equations of motion are derived based on piezoelectric properties and Newton’s law. Two types of actuators are created in this study. In the first type, centers of two piezoelectric buzzers are attached to an arm while in the other type each rim of two piezoelectric buzzers is attached to the arm. Experimental results are compared with theoretical results. According to experimental results, the present actuator can accomplish the translational velocity of 21 mm/s, angular velocity of 3.72 rad/s, and 2.32 mN in force. This study presents a piezoelectric actuator capable of both translation and rotation, which is rare in the literature.