高性能的速度闭环控制是精密伺服控制系统的关键。针对速度换向时存在较大的换向误差的问题, 提出了将自抗扰控制器用于精密伺服系统速度闭环的控制中。自抗扰控制器能对系统所受到的内扰和外扰进行实时估计, 且不依赖于对象模型。本文基于控制对象的频域特性, 设计了线性自抗扰控制器, 找到了对象参数 b与谐振频率的关系, 并给出了其他参数的整定方法, 为实验中参数调试提供了依据。最后, 在带宽相同的情况下, 将设计好的自抗扰控制器和常规的 PI控制器分别用于速度闭环, 进行了对比实验。结果表明在输入信号为 0.5°和 1.0°时, 自抗扰控制器均能明显减小换向误差, 提高系统跟踪精度。

High performance speed closed-loop control is the key to precision servo control system. According to the larger error of speed loop when reversing, an Active Disturbance Rejection Controller (ADRC) is put forward to speed closed-loop for precision servo control system. ADRC can estimate the internal and external disturbances in real time, and it does not depend on the object model. Based on the frequency-domain characteristics of controlled object, linear ADRC was designed, the relationship between the resonant frequency and the object parameter b was found, other parameters tuning method was presented, and all of these provided the basis for experiment parameter debugging. Finally, under the same bandwidth, the ADRC and conventional PI controller are applied in speed closed-loop respectively to make comparative experiments. Actual results show that ADRC can significantly reduce the reversing error and improve the system tracking accuracy when the input signal is 0.5° and 1.0°.