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本文研究用双模控制实现数字位置随动系统的快速控制。在控制开始偏差大时,采用开关控制(bang-bang 控制),实现快速粗定位;当控制临近结束,偏差较小时,采用无波纹最小拍控制,实现限时精定位,从而达到快速、精确定位的目的。文中包括:划定线性控制区;提出控制方式切换条件;建立实际开关线方程、指令改变线方程和线性控制器传函 D(z)。数字仿真结果与理论计算相符。
In this paper, dual-mode control of digital position servo system to achieve fast control. When the control start deviation is large, the switch control (bang-bang control) is adopted to achieve rapid coarse positioning. When the control is near the end and the deviation is small, the ripple minimum control is used to achieve the time-limited positioning so as to achieve fast and accurate positioning purpose. The paper includes: defining the linear control region; proposing the control mode switching condition; establishing the actual switch line equation, the command changing line equation and the linear controller transfer function D (z). The numerical simulation results are in line with the theoretical calculation.