针对由直流电机位置伺服系统自身参数不确定以及外部扰动影响，导致系统响应速度、控制精度降低的问题，提出了一种新型位置-速度双环控制策略。速度控制器采用模糊内模 PID(proportional-integral-differential)控制，利用模糊原理实现对内模PID控制器参数，即滤波时间常数λ的在线智能整定;位置控制器采用基于自抗扰的非奇异快速终端滑模控制(non-singular fast terminal sliding mode control，NFTSMC)，利用线性扩张状态观测器对系统总体的内外干扰进行估计，并以反馈形式进行补偿，同时采用NFTSMC对系统的状态变量进行跟踪，以提高系统的跟踪性能和抗干扰性;最后使用仿真与实验方法验证了新型双闭环控制策略对直流电机位置伺服系统具有良好的控制性能。
New position-speed control strategy of the direct current servo motor
[Objective]With the continuous upgrading of industrial intelligent manufacturing requirements,servo motor control technology is widely used in automated production,which has encouraged people to have higher requirements for its speed and position control.Concerning uncertainty in the DC motor position servo system parameters and the influence of external disturbance,the system response speed and control accuracy are reduced,and a single control strategy cannot solve all the problems encountered in the DC servo systems.Therefore,the compound control strategy is effective in achieving high-performance control of servo systems.Some methods pose challenges in adjusting the controller parameters and implementing complex control algorithms,which can compromise system speed and accuracy.Moreover,achieving strong immunity while maintaining rapidity and accuracy remains a challenge.[Methods]Active disturbance rejection control has the advantages of good robustness,high control precision,and low model dependence,making it widely applicable,while nonsingular fast terminal sliding mode control can solve the problem of slow convergence of traditional sliding mode control systems.Therefore,to achieve high-performance servo control and enhance the control accuracy,robustness,and response speed of the system,the control strategy of nonsingular fast terminal sliding mode control-fuzzy internal mode PID control based on autodisturbance rejection is studied for the position servo system of the DC motor.The position servo system of the DC motor is usually a double closed-loop structure.The inner loop speed controller adopts a fuzzy internal mode PID,and the fuzzy principle is used to realize the online intelligent tuning of the internal mode PID controller parameter λ.The position controller is an outer loop that adopts nonsingular fast terminal sliding mode control based on active disturbance rejection.The linear extended state observer estimates the internal and external disturbances of the system and compensates for them as feedback.Meanwhile,the nonsingular fast terminal sliding mode tracks the state variables of the system to improve tracking performance and anti-interference of the system.Simulations and experiments were conducted on the proposed PD-PI control and sliding mode-internal mode PID control methods are simulated and experimented,and three control performance indicators—adjustment time,overshoot,and steady-state error—are analyzed.[Results]Through simulation and experiment,the adjustment time of the proposed method is short,there is no overshoot,and the steady-state error is small.When the servo system is disturbed,the system can recover to its steady-state value quickly,accurately,and stably with good robustness,which proves that the proposed method has better control performance for the DC motor position servo system.[Conclusions]For the DC motor position servo system,a new position-velocity double closed-loop control strategy is proposed.The speed controller adopts fuzzy internal mode PID control and realizes the online intelligent tuning of the internal mode PID controller parameter λ by the fuzzy principle.The position controller adopts nonsingular fast terminal sliding mode control based on active disturbance rejection,uses the linear extended state observer to estimate the internal and external disturbances of the system and compensates in the form of feedback,and uses nonsingular fast terminal sliding mode to track the state variables of the system,which improves the tracking performance and anti-interference of the system.Finally,simulation and experiment show that the developed control algorithm has a better performance index,robustness and control accuracy are greatly improved,and it can realize effective control of the DC motor position servo system.
active disturbance rejectionnonsingular fast terminal sliding modeinternal model PIDfuzzy controlposition servo system
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