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| Frequency domain iterative design method for digital feedforward tracking controllers |
| LIU Qiang |
| College of Mechanical， Electronic and Automation， Huaqiao University， Quanzhou 362021， China |
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Abstract Digital feedforward controllers are used to improve the tracking performance of servo systems, and in industrial applications the following terms are generally included in the design procedure: parameter identification of the closed loop, discretization of the closed loop and feedforward controller design. Because design errors exists in every term of the design procedure, it will lead to the descent of tracking performance of the digital feedforward controller. For this problem, a novel frequency domain iterative design method using measured frequency characteristics data was proposed, which can eliminate the design errors in every design step effectively. Feedback principle is introduced into the digital feedforward controller design procedure, frequency characteristic data are revised step by step in term of the design error, and the tracking error was reduced remarkably by the iterative design procedure. By the analysis of the changing rule of the frequency characteristic error in the design procedure, the iterative step was given. Computer simulation and experiments are developed for a flight motion simulator system, and the results show the effectiveness of the proposed method, which can remarkably expand the tracking bandwidth of servo systems, and reduce the errors for tracking signals at low frequency range.
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Published: 28 December 2008
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数字前馈跟踪控制器的频域迭代设计方法
数字前馈控制器用于提高伺服系统跟踪性能，在工程应用中通常包含如下设计环节：闭环对象参数辨识、闭环离散化和设计前馈控制器，上述各环节都会引入设计误差，最终导致所设计的前馈控制器跟踪性能变差.针对上述问题，利用闭环对象的实测频率特性数据，提出一种新型的频域迭代设计方法，能有效消除各环节误差.通过对设计过程的频率特性差值的变化分析，给出了迭代算法的步骤.该方法将反馈控制思想引入前馈控制器设计过程，根据频率特性差值，不断修正对象频率特性数据，通过设计过程的迭代，使跟踪误差显著减小.以某飞行转台伺服系统为例，进行数值仿真和应用研究，结果表明了该方法的有效性，能显著拓宽伺服系统的跟踪频带，减小对低频信号的跟踪误差．
关键词：
控制,
前馈,
伺服,
跟踪
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