回推非线性PID复合控制在伺服系统中的应用

摘要

Considering wide variations in loads and moment of inertia of machine tool position servo system , backstepping nonlinear PID compound control is presented. The online parameter adjustments of the proportion, integral and differential of the conventional PID controller were realized by the nonlinear PID, achieving the adjustment control of the system. The backstepping algorithm guarantees convergence quickly as highly error and improves the tracking ability. Simulation results show that the compound control strategy has better stabilization and dynamical tracking accuracy.%针对机床伺服电机位置控制中存在的转动惯量和负载力矩变化大等特点,提出了一种回推非线性PID复合控制方法.非线性PID控制可对传统PID控制器的比例、积分、微分系数进行实时调整,实现了系统的调整控制.回推算法保证在误差较大时能够快速收敛,提高了跟踪能力.仿真结果表明复合控制策略具有更好的稳定性和动态跟踪精度.