基于前馈及自适应滤波的零跟踪误差伺服控制

作者：聂建华1，李 晟1，李 洋2 日期：2007-07-09/span> 浏览：4192 查看PDF文档

                        基于前馈及自适应滤波的零跟踪误差伺服控制
                                    聂建华1，李 晟1，李 洋2
（1.安徽工业大学 省高校电力电子与运动控制重点实验室，安徽 马鞍山 243000；
2.马钢自动化公司，安徽 马鞍山 243000）

摘 要：常规进给数控伺服系统中由于存在跟随误差而导致加工几何精度下降的现象，利用数控加工轨迹已知的特点，提出了基于自适应滤波的前馈控制方案。该方案通过速度精插补器产生速度前馈给定信号；同时该位置给定通过对称滤波器施加位置反馈，以消除位置环重复给定的影响，并采用广义最小二乘法进行对象辨识以保证该滤波器的参数匹配。通过分析证明了该方案能在理论上实现无跟随误差的伺服控制，并通过Matlab仿真验证了其有效性。

          Zerotracking error servo controller based on feedforward and adaptive filter
                                      NIE Jianhua1, LI Sheng, LI Yang2
(1.Anhui University of Technology, Anhui Academy Key Lab of Electric Power Electronics and Motion Control, Maanshan 243002, China; 2.MaSteel Automation Co., Maanshan 243002, China)

Abstract: There exists tracking error in the servo system, which causes tracking error and reduces geometric accuracy. Taking advantage of the tracking is known, the adaptive feedforward control plan was proposed. The control plan used accuracte interpolationer to generate the feedforward velocity singal. It eliminated the influence of repeating setting the position loop through using filte. Besides, it used generalized least square method to acquire filter parameter. Theortically, the plan can do the zero tracking error control, and the control effect of the plan was proved in the Matlab simulation test.
Key words: servo system; tracking error; feedforward control; generalized least square (GLS)