改进自抗扰控制谐波式电动舵机伺服系统

张明月; 杨洪波; 章家保; 丁同超; 贾宏光

doi:10.3788/OPE.20142201.0099

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改进自抗扰控制谐波式电动舵机伺服系统

微纳技术与精密机械 | 更新时间：2020-08-13

- 改进自抗扰控制谐波式电动舵机伺服系统
- Servo system of harmonic drive electromechanical actuator using improved ADRC
- 光学精密工程 2014年22卷第1期页码：99-108
- 作者机构：
  
  1. 中国科学院长春光学精密机械与物理研究所,吉林长春,中国,130033
  2. 中国科学院大学北京,中国,100049
- 作者简介：
- 基金信息：
  
  中国科学院三期创新工程资助项目();中国科学院知识创新工程国防科技创新重要方向项目(No.YYYJ-1122)()
- DOI：10.3788/OPE.20142201.0099
  中图分类号： TP273;V241.6
- 收稿日期：2013-08-10，
  
  纸质出版日期：2014-01-15
- 稿件说明：
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张明月, 杨洪波, 章家保等. 改进自抗扰控制谐波式电动舵机伺服系统[J]. 光学精密工程, 2014,22(1): 99-108

ZHANG Ming-yue, YANG Hong-bo, ZHANG Jia-bao etc. Servo system of harmonic drive electromechanical actuator using improved ADRC[J]. Editorial Office of Optics and Precision Engineering, 2014,22(1): 99-108
张明月, 杨洪波, 章家保等. 改进自抗扰控制谐波式电动舵机伺服系统[J]. 光学精密工程, 2014,22(1): 99-108 DOI： 10.3788/OPE.20142201.0099.

ZHANG Ming-yue, YANG Hong-bo, ZHANG Jia-bao etc. Servo system of harmonic drive electromechanical actuator using improved ADRC[J]. Editorial Office of Optics and Precision Engineering, 2014,22(1): 99-108 DOI： 10.3788/OPE.20142201.0099.

摘要

针对电动舵机系统的非线性、快时变等特点

提出了改进的自抗扰控制器以改善系统的位置跟踪性能。首先

给出电动舵机的系统模型及控制策略

分析了系统中非线性因素的影响;设计了改进自抗扰控制器

并利用现代控制理论给出了控制器参数的选择方法。然后

在舵机系统中进行仿真分析

验证了该控制器的可行性。最后

基于谐波式电动舵机对改进的自抗扰控制器与常规自抗扰控制器及PI控制器进行对比实验。实验结果表明:跟踪10 sin(5 πt)正弦信号时

改进自抗扰控制器能够消除位置平顶和速度死区

相位滞后为0.087 22 rad;跟踪±1°~±15°角位置时

上升时间为9~18 ms

超调量为0~7.25%

稳态均方差为0.007 60~0.010 83

性能明显优于常规自抗扰控制器和PI控制器。得到的数据显示该控制器减少了设计参数

位置跟踪超调量小

响应时间快

稳态均方差小

改善了舵机系统的动态和稳态性能。

Abstract

Because Electromechanical Actuator (EMA) is a nonlinear

time-varying servo system

this paper proposes an improved Active Disturbance Rejection Controller(ADRC) to improve the tracking performance of the EMA. First

the mathematical model and control strategy of the EMA were presented and the nonlinear factors influencing the performance of EMA were analyzed by the control theory. Then

the improved ADRC was described and the method to select parameters were given by modern control theory. Furthermore

the feasibility of this controller was demonstrated through a simulation under different input conditions. Finally

the performance of PI controller

ADRC

and improved ADRC was compared by experiments on a harmonic drive EMA servo system. Experimental results indicate that the improved ADRC controller can remove the position flat crest and velocity dead space

and its phase error is 0.087 22 rad when the angular position signal of 10 sin(5 πt) is tracked. Furthermore

the rise time

overshoot and the steady state mean square deviation of EMA system are 9-18 ms

0-7.25%

0.007 60-0.010 83

respectively

when ±1°-±15°angular positions are tracked. These results means that the performance of the improved ADRC is better than those of the PI controller and traditional ADRC. It has a fast response

slight overshoot and high accuracy in stability

as well as strong anti-disturbance and robustness.

关键词

Keywords

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