Research On The Adaptive Robust Control Method Of The Position/Velocity Servo System

With the rapid development of computer technology, the position/velocity servo system has been widely applied. Accordingly, the performance requirements of the position/velocity servo system would become more and more. Therefore, the research on the performance of the position/velocity servo system has profound significance.In this thesis, the research on the position/velocity servo system is to improve the performance of servo system for the purpose. In order to achieve high-precision control of the position/velocity servo system, we must study the main factors which influence the performance of the position/velocity servo system, analyze theses influences and establish the appropriate mathematical model. Through the establishment of the plant model of servo system, the use of adaptive robust controller could compensate theses influences of the factors, and verify the performance of the controller by simulation. The main contents are as followed.First, this thesis describes the current situation of the position/velocity servo system and analyzes the influences of performance caused by some factors, especially the friction and the cogging force. With the establishment of these models, this paper use adaptive robust controller to compensate their influences. Based on the design of DSP, this paper has completed the design of the control program and the hardware of the servo system.Second, the adaptive robust control is discussed for system controlling. For the nonlinear system with parameter uncertain, depending on the application problems of the servo system, this thesis describes the traditional adaptive robust control, the direct adaptive robust control and the desired compensation adaptive robust control. The simulation results shows that the adaptive robust control achieves better performance than the PID control. Third, this thesis describes the basic theoretical knowledge of DSP. Based on the implementation of servo system and the motion controller, the design of the DSP interface circuit is accomplished.