基于全数字伺服控制单元的运动控制算法的研究-专业论文-中国工控网 关键词： 伺服控制；编码器；反馈误差；比例增益 [gap=478]Key words: servo control; encoder; feedback error; proportional gain
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该方法通过配置一对复数极点的位置和调整比例增益，获得令人满意的输出响应。
A satisfactory output response is obtained by assigning a pair of complex poles and adjusting the proportional gain.
实验结果表明，直线电动机的伺服刚度只受位置环比例增益的影响较大，而其它的控制参数对伺服刚度幅值影响不大。
The result presents that the servo rigidity is more influenced by proportion plus of position loop than by other parameters.
该算法中在输入参考信号处直接增加一个比例增益环节，在信号发生器处串联一个超前的时滞环节，并且用一个二阶低通滤波器作为控制系统的补偿函数。
The repetitive control algorithm includes scalar gain of the reference input with a lead block in the signal generator. A second-order low-pass filter provides compensation in the controller.
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