摘要
针对扫描镜伺服控制系统中柔性连接所导致的机械谐振问题,本文提出一种结合电机加速度反馈以及负载速度反馈的滑模观测器控制方法.首先建立伺服系统柔性连接的数学模型并分析谐振对系统性能的影响;然后给出滑模观测器的设计过程;随后将观测出的电机加速度以及负载速度反馈到伺服系统中进行补偿;最后分析了位置传感器对伺服系统控制性能的影响,系统的鲁棒性,并与相似被控条件下的其他控制方法进行了比较.仿真结果表明:与未采用观测器时相比,本文所提出的方法有效地抑制了基于柔性连接的伺服系统中的机械谐振问题,提高了系统的控制性能,且具有较高的鲁棒性.
Aiming at the mechanical resonance caused by the flexible connection in the scanning mirror servo control system,this paper introduces a sliding mode observer control method combining motor acceleration feedback and load speed feedback.Firstly,the mathematical model of the flexible connection of the servo system is established and the influence of resonance on the performance of the system is analyzed,then give the design method of sliding mode observer,then the observed motor acceleration and load speed are fed back to the servo system for compensation.Finally,the influence of position sensor on servo system control performance is analyzed,the robustness is analyzed.Then compared with other control strategy.Simulation results show that compared with the case where observer is not used,the proposed method effectively suppresses the mechanical resonance problem based on flexible connection,improves the control performance,and has high robustness.
作者
李家骏
王淦泉
LI Jia-jun;WANG Gan-quan(CAS Key Laboratory of Infrared System Detection and Imaging Technology,Shanghai 200083,China;Shanghai Institute of Technical Physics of The Chinese Academy of Science,Shanghai 200083,China)
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2020年第12期2638-2644,共7页
Control Theory & Applications
关键词
非线性控制
滑模观测器
柔性连接
机械谐振
伺服系统
扫描镜
nonlinear control
sliding mode observer
flexible connection
mechanical resonance
servo system
scanning mirror
