零相差跟踪控制器增益特性处理技术

Gain-characteristics manipulation technique for zero phase error tracking controller

中文关键词  轨迹跟踪  零相差跟踪控制  增益误差补偿  前馈控制

英文关键词  trajectory tracking  zero phase error tracking control  gain error compensation  feedforward control

中文摘要

      零相差跟踪控制系统增益误差随频率升高而增大, 同时零相差跟踪控制器对高频噪声有放大作用. 为了解决以上问题, 本文研究了一种对零相差跟踪控制器增益特性的处理方法. 采用了求解优化问题的思想, 通过对优化目标函数及约束条件的设置, 使设计得到的补偿器具有低频段增益误差补偿, 高频段增益衰减的性能. 文中详细介绍了补偿器的设计过程, 理论推导了参数计算公式. 比较仿真结果表明, 所设计的补偿器有效地提高了轨迹跟踪精度, 减小了控制器输出噪声含量, 有利于提高运动平稳性, 对工程实践具有参考价值.

英文摘要

      In a zero phase error tracking control system, the gain error increases as frequency increases; meanwhile, the zero phase error tracking control system exhibits amplification to high frequency noises. In order to solve these problems, a gain-characteristics manipulation method for zero phase error tracking controller is investigated based on the idea of optimizaton. By setting the optimization objective function and restriction conditions, we design the gain error compensator with gain-compensation in low frequency band and gain-attenuation in high frequency band. The design process is given in details and the parameter calculation formulas are derived analytically. Simulation results indicate that the designed compensator effectively increases the tracking accuracy and reduces noise content in controller output, thus, improving the motion smoothness and providing advantages for engineering applications.