Control Design and Implementation for Rate Servo System Based on Spatial Sampling
|School||Harbin Institute of Technology|
|Course||Control Science and Engineering|
|Keywords||Rate Servo System Spatially Periodic Disturbance Simulation Validate|
This thesis takes the Permanent magnet synchronous motor as researching object,and focuses on the spatially periodic disturbances that influent the accuracy andstability of motor rate. According to the advantage of spatial sampling, proposed aspatial-based control design method, and applied this method to a specific motioncontrol system.Firstly, it outlined the present research on rate servo system in this thesis. Thecontrol design methods aiming at the spatially periodic disturbance were indicated inthis dissertation, as well as the superiority and shortage of them. In terms of themechanism and sampling errors, the spatial domain control was taken as a technologymethod in this thesis.Secondly, beginning with the basis of this method, the expressions of the rateservo system in position domain are derived. Furthermore, the Laplace transform anddiscretization algorithm are provided, then a discrete model of the system in positiondomain was provided.Next, based on the operation mechanism and mathematical expression,simulation models of position domain control system have been established. Thecredibility of mathematical model and simulation models was validated throughcomparison with the one in time domain.Finally, the control design on position domain has been completed on the basis ofsimulation results and dynamic characteristics of the plant. Then, this theory wasapplied on a certain rate servo system. The results were presented to validate theproposed method was reasonable and feasible. This study has laid a foundation for afurther research on the rejection of position periodic disturbance.