滑模观测器在大惯量扫描镜系统中抗谐振的应用

Application of sliding mode observer in large inertia scanning mirror resonance system

中文关键词  非线性控制  滑模观测器  柔性连接  机械谐振  伺服系统  扫描镜

英文关键词  nonlinear control  sliding mode observer  flexible connection  mechanical resonance  servo system  scanning mirror

中文摘要

      针对扫描镜伺服控制系统中柔性连接所导致的机械谐振问题, 本文提出一种结合电机加速度反馈以及负 载速度反馈的滑模观测器控制方法. 首先建立伺服系统柔性连接的数学模型并分析谐振对系统性能的影响; 然后 给出滑模观测器的设计过程; 随后将观测出的电机加速度以及负载速度反馈到伺服系统中进行补偿; 最后分析了 位置传感器对伺服系统控制性能的影响, 系统的鲁棒性, 并与相似被控条件下的其他控制方法进行了比较. 仿真结 果表明: 与未采用观测器时相比, 本文所提出的方法有效地抑制了基于柔性连接的伺服系统中的机械谐振问题, 提 高了系统的控制性能, 且具有较高的鲁棒性.

英文摘要

      Aiming at the mechanical resonance caused by the flexible connection in the scanning mirror servo control system, this paper introduces a sliding mode observer control method combining motor acceleration feedback and load speed feedback. Firstly, the mathematical model of the flexible connection of the servo system is established and the influence of resonance on the performance of the system is analyzed, then give the design method of sliding mode observer, then the observed motor acceleration and load speed are fed back to the servo system for compensation. Finally, the influence of position sensor on servo system control performance is analyzed, the robustness is analyzed. Then compared with other control strategy. Simulation results show that compared with the case where observer is not used, the proposed method effectively suppresses the mechanical resonance problem based on flexible connection, improves the control performance, and has high robustness.