摘要
在位置扰动型力矩伺服系统中,由于受力对象的运动给系统带来很大的位置干扰,给系统的校正和优化带来了困难,位置扰动型力矩伺服系统设计的主要任务就是消除它的多余力矩。本文建立了电动式位置扰动型力矩伺服系统的数学模型,并提出了一种新的控制方法:采用单神经元自适应 PID 控制来抑制多余力矩和提高系统的控制性能。仿真结果表明这种控制方法有效地抑制了多余力矩的干扰,提高了系统的鲁棒性和跟踪性能。
The torque servo system with position disturbance is difficult for its control because the motion of object makes a high displacement disturbance to the system. Therefore decreasing extraneous torque is the important task in designing the control system. In this article the mathematical model of the electric torque servo system with position disturbance is build up and the neural network adaptive PID control is presented to eliminate the extraneous torque. The simulation results show that this kind of the control law can decrease the disturbance torque effectively and improve the robustness and tacking property of the system.
出处
《电气自动化》
北大核心
2006年第2期20-22,共3页
Electrical Automation
关键词
位置扰动
力矩伺服系统
单神经元自适应PID控制
position disturbance
torque servo systems
the neural network adaptive PID control
