位置伺服系统控制算法的研究

传统PID控制在伺服系统高精度位置跟踪和改善系统品质方面已露出诸多不足,且系统中存在的控制干扰和测量噪声会在很大程度上影响伺服系统的跟踪精度.提出一种带有卡尔曼滤波器的重复控制补偿PID和前馈补偿相结合的控制方法.通过仿真证明该控制方法能以较高的精度跟踪周期性输入信号,且有较好的抑制随机扰动和鲁棒性.

Research of Position Servo System Control Algorithm

In high-precision position tracking and improve the control quality in servo system,traditional PID control has shown a lot of defects.The interfere in control and measure of noise existing in the system deeply affect of servo-tracking system.The combination of a Kalman filter with a repeat compensation PID control and feedforward compensation control was proposed.The simulation proves that the method can control high precision tracking cyclical input signal and a better suppress random disturbances and rob...