一种基于位置观测器的电机PID控制策略

提出一种带位置观测器的电机控制策略,该方法可以避免信号突变时对系统动态品质的不良影响,从而提高了伺服电机的控制品质与鲁棒性。电机的伺服控制系统是一个闭环系统,比较常用的一种控制方法是基于PID算法的位置控制,由给定的目标位置或速度来控制电机,将检测到的位置与预定的位置进行比较,将偏差的比例、微分和积分线性组合,即可得到控制量。相比之下,采用带位置观测器的控制方法,能够有效避免微分环节可能带来的瞬时冲击。

A strategy for the Motor Control Based on Position Observer

A strategy for the motor control with position observer is provided, with which bad influence on the dynamic quality of system is eliminated when the signal changes suddenly, and the control quality and robustness of servo motor are improved. The servo control system of motor is a close loop system, for which a common control way is position control based on PID arithmetic, that is to compare the sensing position and the command position and make linear combination of the variance to get the control quantity. The control way with position observer restrains the instant shock produced by the differential part.