| 一种新的抗饱和控制器研究与设计 |
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| 引用本文： | 孙秀丽,方敏,陈杰.一种新的抗饱和控制器研究与设计[J].南京航空航天大学学报,2006,38(Z1):147-150. |
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| 作者姓名： | 孙秀丽 方敏 陈杰 |
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| 作者单位： | 1. 济南大学控制科学与工程学院,济南,250022
2. 东营职业学院自动化系,东营,257091 |
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| 摘 要： | 首先忽略执行器的饱和,设计了能够满足系统性能要求的线性控制,然后设计了饱和补偿器降低饱和的影响,线性控制器使系统有较小的阻尼率以提高响应的快速性;当输出达到设定值时,非线性控制器使系统有较大阻尼率以降低超调量。线性控制器与非线性控制器合成总控制器,结合PID技术,能够实现高精度艰踪控制。本方法设计的控制器应用于伺服跟踪系统,仿真结果表明该方法是有效的。
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| 关 键 词： | 输入饱和 非线性控制 PID控制 伺服系统 |
| 修稿时间： | 2005年4月20日 |
Design of New Controller with Anti-Saturation |
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| Sun Xiuli,Fang Min,Chen Jie.Design of New Controller with Anti-Saturation[J].Journal of Nanjing University of Aeronautics & Astronautics,2006,38(Z1):147-150. |
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| Authors: | Sun Xiuli Fang Min Chen Jie |
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| Abstract: | A new design method is proposed,which is to first ignore actuator saturation.A linear con- troller is designed to meet the performance specifications,and an anti-windup compensator is designed to weaken the influence of saturation.The linear part makes the closed-loop system with a small damping for quick response;the nonlinear part increases the damping of the close-loop system and reduces the overshoot.The composite controller composed of the linear part and the nonlinear part and PID con- troller ensure the closed-loop sysem to meet high-precision tracking need.The controller designed with the method can be applied to an actual servo system.Experimental results prove the effectiveness of the method. |
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| Keywords: | input saturation nonlinear control PID control servo system |
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