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2自由度PID控制系统中的前置预滤波器
Alternative TitleA Pre-Filter Designed for 2-DOF PID Control Systems
刘坤; 朱志强; 王峰; 杜恺; 韩建达
Department机器人学研究室
Source Publication信息与控制
ISSN1002-0411
2015
Volume44Issue:2Pages:209-214
Indexed ByCSCD
CSCD IDCSCD:5416847
Contribution Rank1
Funding Organization国家863计划资助项目(2012AA041501,2011AA040202) ; 中国博士后科学基金资助项目(Y0P119H101)
Keyword前置预滤波 2自由度控制 Pid控制 伺服跟踪
Abstract为了提高前置预滤波器的滤波性能,同时降低前置预滤波器的设计难度,提出了一种应用于搭建2自由度PID(proportional-integral-derivative)控制系统的前置预滤波器设计方法.首先提出了系统响应信号的分量信号的概念,然后基于最小二乘法,推导出一种改善系统响应输出特性的前置预滤波器的设计方法.所设计的前置预滤波器具有PID的简单形式,能够方便地应用于搭建2自由度PID控制系统.所述设计方法的主要优点在于:无需系统辨识,整个设计过程只需要系统的响应输出信号;所设计出的前置预滤波器能有效减小2自由度PID控制系统在阶跃响应中的震荡,且能使系统的响应速度与给定的参考模型的响应速度...
Other AbstractTo enhance filtering effectiveness and to reduce design complexity,we propose a pre-filter design that can be incorporated into 2-DOF PID control systems. During the design process,the component system response output is analyzed and then,based on the least squares method,a pre-filter method for enhancing the system response property is devised. The resultant pre-filter has a simple PID form and is convenient for use in 2-DOF PID control system construction. There are several significant advantages to the proposed design: system identification is not needed,the whole design process only requires system output signals,the designed pre-filter can effectively eliminate the vibration of the system output of 2-DOF PID control system in step response, and the response speed of the designed system is consistent with that of the pre-set reference model. Through simulation of the design of the pre-filter for a typical PID control system,we obtain the response output signal based on the pre-filter design process. The filtering effectiveness is then tested by simulation and the results prove the pre-filter's effectiveness.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/16201
Collection机器人学研究室
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国人民解放军93115部队
3.中国科学院大学
Recommended Citation
GB/T 7714
刘坤,朱志强,王峰,等. 2自由度PID控制系统中的前置预滤波器[J]. 信息与控制,2015,44(2):209-214.
APA 刘坤,朱志强,王峰,杜恺,&韩建达.(2015).2自由度PID控制系统中的前置预滤波器.信息与控制,44(2),209-214.
MLA 刘坤,et al."2自由度PID控制系统中的前置预滤波器".信息与控制 44.2(2015):209-214.
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