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对于存在随机噪声和干扰的系统,传统的内模跟踪控制是无法解决这类问题的。将自适应滤波器引入到内模控制的结构中,很好地解决了内模控制在抑制随机噪声方面的不足。针对被控对象的模型和系统性能指标,同时考虑到系统的随机噪声设计自适应滤波器,从而构建自适应控制器。通过自适应控制器和基于内模原理设计的伺服补偿器对被控对象进行跟踪控制。提出的方法综合了内模控制和自适应滤波的优点,使控制系统达到满意的跟踪控制效果,对常规谐波扰动和随机噪声都有良好的抑制作用。仿真结果表明提出的设计方法能够实现系统的无静差跟踪,并且具有良好的抗噪性和稳定性。
For systems with random noise and interference, traditional IM tracking control can not solve such problems. The adaptive filter is introduced into the structure of the internal model control, a good solution to the internal model control in the suppression of random noise shortcomings. Aiming at the model and system performance index of the controlled object, an adaptive controller is constructed based on the random noise of the system and an adaptive filter is designed. The controlled object is tracked and controlled by the adaptive controller and the servo compensator designed based on the internal model principle. The proposed method combines the advantages of internal model control and adaptive filtering to achieve a satisfactory tracking control effect of the control system and has good suppression of conventional harmonic disturbance and random noise. The simulation results show that the proposed design method can achieve no-static tracking of the system, and has good noise immunity and stability.