传统 PID控制在伺服系统高精度位置跟踪和改善系统品质方面已露出诸多不足, 且系统中存在的控制干扰和测量噪声会在很大程度上影响伺服系统的跟踪精度。针对工作实际中的被控对象控制问题, 对传统的 PID控制算法进行改进。提出一种带有卡尔曼滤波器的重复控制补偿 PID和前馈补偿相结合的控制方法。通过仿真证明, 该控制方法能以较高的精度跟踪周期性输入信号,且有较好的抑制随机扰动和鲁棒性。

In areas of high-precision position tracking and the quality improvement of servo system, traditional PID control has shown a lot of defects. The control interference and measure noise from the system deeply affect the tracking accuracy of servo system. According to the control problems of controlled targets in actual operation, the traditional PID control algorithm is improved. A control method which combines a repetition control compensation PID with a Kalman filter with feedforward compensation is proposed. By stimulation experiments testing, the control method can be used to track periodic input signals and has good suppression random disturbances and robustness.