A servo control system design using dynamic inversion

被引：24

作者：

Lo Blanco, CG ^{[1
]}

Piazzi, A ^{[1
]}

机构：

[1] Univ Parma, Dipartimento Ingn Informaz, I-43100 Parma, Italy

来源：

CONTROL ENGINEERING PRACTICE | 2002年 / 10卷 / 08期

关键词：

servo design; dynamic inversion; saturation avoidance control; transition polynomials; optimal set-point transfers; dc motors; PD controller;

D O I：

10.1016/S0967-0661(02)00036-9

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an inversion-based approach to the design of a dc motor-position servo system. Specifically, using the recently developed transition polynomials, a dynamic inversion procedure is established to determine a feedforward command signal to achieve high-performance position transfers. It is shown how to improve a traditional proportional and derivative controller feedback scheme and how a coordinated feedforward/feedback design using the new approach further improves the servo performances. Moreover, the methodology can easily comply with a voltage saturation avoidance constraint. Experimental results on a standard test bench highlight the effectiveness of the dynamic inversion idea. (C) 2002 Elsevier Science Ltd. All rights reserved.

引用

页码：847 / 855

页数：9

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