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Abstract: Two degrees of freedom controller has more advantage in the
servo control. Feedback guarantees the stability of close loop system
and feedforward improves the tracing performance in this controller.
Firstly, closed-loop system is identified with ARMAX model. Based on
this identified model, zero phase error tracing controller (ZPETC) is
designed. Closed-loop band width is increased to 100 rad/s or so.
Feedback loop ensures disturbance rejection and robust stability. Inner
loop feedback controller is disturbance observer and outer loop is
displacement feedback controller. In simulation and experiment the well
tracking accuracy is achieved.
Key words: Pneumatic servo system Disturbance observer Zero phase
error tracing controller Trajectory tracking
CLC No: TH138
哈尔滨工业大学211重点学科建设基金资助项目.
Received 20050107, received in revised form 20050625
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