An Integrated Structure And Control Design Of Servo System

The relationship between the structure and control of electromechanical servo system exists, however, which is separated by the traditional design and can not guarantee the best overall performance of system. So, this paper research on the integrated structure and control design of servo system which based on PID control and robust H∞control respectively.Firstly, the dynamical equation of n-stage gears servo system is established and then the state space expression is deduced by the dynamical one. Secondly, The integrated design models which based on PID control and robust H∞control respectively are established by structural parameters and control parameters about proportional, integral and differential under PID and the parameter about the performance indexγunder H∞control as design variables , by the quality of structure, control performance and robustness as the objective function, and by the stability of system ,structural strength and control performance as constraints. Then the solution methods of the integration design models are studied. Finally, in order to verify the effectiveness of this integrated design approach, the servo test bench is introduced as example. Then the integrated design and sequential design approaches based on the same two controllers respectively are established and solved. According to these optimal results of sequential design and integrated design respectively, simulation results show that, compared with the sequential design, the integrated design can significantly improve stability and reduce the response time of system.