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本文以一具有转速环和位移环的脉宽调制(PWM)放大器伺服系统为例,利用线性二次型最优控制的频域解法确定最佳状态反馈阵K,通过对转速内环的计算得出标准的一阶优化模型,避免了选择权矩阵 Q和求解非线性 Riccati 方程。本文利用 Popov 超稳定理论设计的转速内环模型参考自适应伺服系统,具有对负载转动惯量、负载扰动力矩和系统增益自适应的高性能,并通过实验进行了验证。
In this paper, a pulse width modulation (PWM) amplifier servo system with speed loop and displacement loop is taken as an example. The best state feedback matrix K is determined by the frequency domain solution of the linear quadratic optimal control. By calculating the speed inner loop, A standard first-order optimization model avoids the selection matrix Q and solves the nonlinear Riccati equation. In this paper, based on the Popov super stability theory, the design of the speed inner loop model reference adaptive servo system has the high performance of load moment of inertia, load disturbance torque and system gain adaptive, and has been verified by experiments.