| 引用本文: | 李家骏,王淦泉.滑模观测器在大惯量扫描镜系统中抗谐振的应用[J].控制理论与应用,2020,37(12):2638~2644.[点击复制] |
| LI Jia-jun,WANG Gan-quan.Application of sliding mode observer in large inertia scanning mirror resonance system[J].Control Theory and Technology,2020,37(12):2638~2644.[点击复制] |
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| 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 |
| 摘要点击 1816 全文点击 595 投稿时间：2019-11-07 修订日期：2020-07-01 |
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| DOI编号 10.7641/CTA.2020.90928 |
| 2020,37(12):2638-2644 |
| 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 |
| 基金项目 |
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| 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. |
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