光电跟踪系统力矩波动的自抗扰控制

为解决光电跟踪伺服系统受电机力矩波动影响产生的速度波动问题,提出了一种改进的自抗扰控制策略进行力矩波动补偿。该算法主要由两部分组成:通过扩张状态观测器辨识出系统扰动,然后将该扰动前馈到系统控制量中去,构成复合校正系统;反馈通道中采用两参数的比例微分控制器,可以保证系统的稳定性和良好的动态特性。仿真分析和实验结果表明:与同等闭环控制带宽的PI控制器相比,自抗扰控制器可以提高系统对扰动力矩的抑制能力,采用自抗扰补偿时,速度误差的峰值由1.88%降低到0.65%,速度误差的均方根值由0.8%降低到0.2%。实验结果证明提出的方法能够有效降低电机力矩波动的影响,提高速度平稳性。

Active Disturbance Rejection Control of Torque Ripple on Optoelectronic Tracking System

An improved active disturbance rejection control is proposed to solve the problem on the velocity fluctuation caused by torque ripples in a DC torque motor. The algorithm consists of two parts: the extended state observer estimates the system disturbances, and then the estimated disturbance is fed into the control system to form composite correction system. A two-parameter proportional-derivative controller can guarantee system stability and good dynamic characteristics. The simulation and experimental results show that, compared to the PI controller with the same closed-loop control bandwidth, the proposed method can improve the ability of disturbance rejection, using Active Disturbance Rejection Control (ADRC) compensation, the peak-peak value of speed error from 1.88% down to 0.65%, the Root Mean Square (RMS) value of the error from 0.8% to 0.2%. Experimental results show that the proposed method can effectively reduce the velocity fluctuation caused by motor torque ripple, and improve the speed smooth.