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自抗扰控制技术在电动舵系统中的应用
熊官送,那学智,曹东海
0
(北京自动化控制设备研究所)
摘要:
针对无刷直流电机驱动的位置伺服系统,介绍了其自抗扰控制器设计的基本思路与实现过程。通过扩张状态观测器的动态补偿提高了电动舵机的鲁棒性,同时对系统闭环特性进行了分析,并对结果进行了仿真计算与实验研究,最后给出了自抗扰控制技术在快速响应电动舵机中的应用结果。
关键词:  自抗扰控制器  无刷直流电机  舵机
DOI:
基金项目:
The Application of ADRC in Electromechanical Actuation System
XIONG Guan-song,NA Xue-zhi,CAO Dong-hai
(Beijing Institute of Automatic Control Equipment)
Abstract:
Basic ideas of ADRC controller design process is introduced on the position servo system for brushless DC motor drivers. The electric servos robustness is improved by dynamic compensation of ESO , then the closed-loop system characteristics is analyzed, and the result is simulated and experimentally studied. Finally ADRC control technology in the rapid response to the application of the results of the electromechanical actuation is showed.
Key words:  ADRC controller  BLDC  Electromechanical actuation

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