多自由度伺服系统的非线性解耦控制

摘要

多自由度伺服系统各轴之间存在的非线性耦合，是影响系统控制性能的一个重要因素，为了提高系统控制性能，本文研究了多自由度伺服系统的解耦控制．首先建立了多自由度伺服系统的一般化耦合数学模型；然后根据Singh法求出逆系统；最后结合期望的标称线性传递函数，算出解耦控制规律．本算法避开微分几何理论，直接对矩阵进行运算，易于理解．文章给出了应用此方法对3轴仿真转台进行解耦控制的例子．%The nonlinear coupling among axes of multi-DOF servo system is an important issue which deteriorates the system control performance. To improve the system control performance, decoupling control of multi-DOF servo system is investigated. Firstly, a general coupling mathematical model of multi-DOF servo system is established, and then its inverse system is obtained by using Singh algorithm; finally, according to the desired nominal linear transfer function, a decoupling control law is developed. The proposed method avoids the differential geometry theory, and mainly involves matrix computation, so it is easy to be understood. The proposed method has been applied to the decoupling control of a three-axis simulator.