论文部分内容阅读
文章从实现快速且无超调的方位控制的要求出发,分析了伺服驱动的速度控制。针对传统PID控制算法的参数不易在线调整,提出了伺服控制系统时间最优控制算法,从而能够在线修正参数,提高了控制的鲁棒性。根据最优控制思想,如果系统按最大加速度启动,以最大速度运动,再以最大减速度制动,就可以以最短时间无超调地到达指令位置。经过仿真测试该系统可达到提高控制精度的目的。
Based on the requirement of fast and non-overshooting azimuth control, the article analyzes the speed control of servo drive. Aiming at the problem that the parameters of the traditional PID control algorithm are not easy to adjust online, an optimal time control algorithm of the servo control system is proposed, which can correct the parameters online and improve the control robustness. According to the idea of optimal control, if the system starts with the maximum acceleration, moves at the maximum speed, and then brakes with the maximum deceleration, the command position can be reached without overshooting in the shortest time. After simulation test the system can achieve the purpose of improving control accuracy.