一種提高跟蹤精度的動(dòng)態(tài)積分控制方法

動(dòng)態(tài)高型控制在形式上相當(dāng)于積分分離的PI 控制器，按控制理論中經(jīng)典的PID 控制的解
釋?zhuān)e分環(huán)節(jié)提高了系統(tǒng)的無(wú)靜差度，從而提高了系統(tǒng)的穩(wěn)態(tài)精度。本文從其它角度對(duì)動(dòng)態(tài)高型控制在理論和仿真實(shí)驗(yàn)兩個(gè)方面進(jìn)行了深入研究，基于光電跟蹤伺服系統(tǒng)， 設(shè)計(jì)出一個(gè)高精度的動(dòng)態(tài)III型控制系統(tǒng)。仿真中，當(dāng)目標(biāo)的最大加速度60° / s2、最大速度60° / s 時(shí)，兩個(gè)高型控制環(huán)節(jié)隨時(shí)間逐次動(dòng)態(tài)加入，使該動(dòng)態(tài)III 型系統(tǒng)穩(wěn)態(tài)時(shí)最大跟蹤誤差達(dá)到了1.3"。
關(guān)鍵字 動(dòng)態(tài)高型控制 穩(wěn)態(tài)精度 跟蹤

Abstract Dynamic high type control is formally equal to PI controller. According to the explanation for the classic PID controller in the automatic control theory, the integral section increases the non-error degree so the static precision is improved. Study on both the theory and simulation for the dynamic high type control is carried out here. Based on an optoelectronic tracking servo system, we propose a dynamic III type control system with the high tracking precision. In the simulation, when the target is with maximum acceleration 60° / s2 and maximum speed 60° / s , the two integral sections are introduced dynamically step by step, and the maximum static tracking error 1.3" is obtained.
Keywords dynamic high type, control, static precision, tracking