A Compound Internal Model Control Method for High Performance Turntable Servo System

摘要：

Based on model reference adaptive controller (MRAC), differential internal model controller (DIMC) and disturbance observer, a compound internal model control (IMC) method is proposed in this paper for turntable servo control system. IMC uses the error between outputs of object model and actual object as the feedback, and makes the controller close to the inverse of the model to achieve satisfactory control effect. In order to solve the problem of mismatching of parameters, MRAC is employed to design a novel adaptive controller. Differentiator is introduced to construct an improved controller to increase the tracking accuracy. Then disturbance observer (DOB) is introduced to compensate the friction to further improve the tracking accuracy. Simulation results prove that the proposed control scheme effectively increases the tracking accuracy and enhances the system robustness against parameter variations and external disturbances.

关键词： Index Terms - Internal model control differentiator DOB turntable servo control system MRAC.

作者: Yunjie Wu Yanfu Huang Xiaodong Liu

作者单位: Laboratory for Science and Technology on Aircraft Control LaboratoryBeijing University of Aeronautic Laboratory for Science and Technology on Aircraft Control Laboratory Beijing University of Aeronauti

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 1082-1087

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）