一种提高跟踪精度的动态积分控制方法

动态高型控制在形式上相当于积分分离的PI 控制器，按控制理论中经典的PID 控制的解
释，积分环节提高了系统的无静差度，从而提高了系统的稳态精度。本文从其它角度对动态高型控制在理论和仿真实验两个方面进行了深入研究，基于光电跟踪伺服系统， 设计出一个高精度的动态III型控制系统。仿真中，当目标的最大加速度60° / s2、最大速度60° / s 时，两个高型控制环节随时间逐次动态加入，使该动态III 型系统稳态时最大跟踪误差达到了1.3"。
关键字 动态高型控制 稳态精度 跟踪

Abstract Dynamic high type control is formally equal to PI controller. According to the explanation for the classic PID controller in the automatic control theory, the integral section increases the non-error degree so the static precision is improved. Study on both the theory and simulation for the dynamic high type control is carried out here. Based on an optoelectronic tracking servo system, we propose a dynamic III type control system with the high tracking precision. In the simulation, when the target is with maximum acceleration 60° / s2 and maximum speed 60° / s , the two integral sections are introduced dynamically step by step, and the maximum static tracking error 1.3" is obtained.
Keywords dynamic high type, control, static precision, tracking