Design Method of Digital Robust Speed Servo System Considering Output Saturation
Design Method of Digital Robust Speed Servo System Considering Output Saturation
复制标题
考虑输出饱和的数字鲁棒调速伺服系统设计方法
DOI：
10.1541/ieejias.119.88
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发表时间：
1999
影响因子：
--
通讯作者：
T. Mashimo
中科院分区：
文献类型：
--
作者：
K. Ohishi;T. Mashimo
当具有积分元件的鲁棒伺服系统具有较大误差输入时，常常会出现由于输出饱和而引起的饱和现象。对于一个严格正确的高阶控制器来说，很难避免因输出饱和而引起的饱和现象。本文新提出了具有完整考虑输出饱和算法的数字鲁棒速度伺服系统。该算法完全考虑了与PI电流控制器串联的鲁棒速度控制器的输出饱和。而且，该方法既适用于PI速度控制器，也适用于H∞速度控制器。实验结果表明，采用该算法的鲁棒速度伺服系统对于大步长速度指令具有良好且稳定的响应。
When a robust servo system having an integral element has a large error input, it often has the windup phenomena caused by output saturation. It is very difficult for a strictly proper and high order controller to avoid having the windup phenomena caused by output saturation. This paper newly proposes the digital robust speed servo system with the complete consideration algorithm of output saturation. The proposed algorithm completely considers the output saturation of robust speed controller connected to PI current controller in series. Moreover, this method can apply to both PI speed controller and H∞ speed controller. The experimental results show that the robust speed servo system having the proposed algorithm has a good and stable response for a large step speed command.