摘要：提出一种在典型双积分伺服系统中实现快速无静差定点跟踪的控制方案。首先利用时间最优控制律进行最快的加速运动，随后当系统误差减小到预定范围内则平滑切换成线性控制律以进行平稳的跟踪控制，并通过积分控制消除未知扰动带来的稳态误差，设计一个降阶状态观测器对系统中不可量测的速度信号进行估计以便参与反馈控制。这种控制方案被用于一个永磁同步电机的的定点位置伺服控制，并基于TMS320F28335DSP开展了实验研究，结果表明所设计的控制系统可以对大范围的给定目标进行快速和准确的跟踪，且对扰动幅值差异和模型参数摄动也具有较好的性能鲁棒性。

关键词：伺服系统；状态观测器；扰动补偿；时间最优控制；积分控制
Abstract: A control scheme was proposed to achieve fast and accurate set-point tracking in typical double integrator servo systems The control scheme initially utilized the time-optimal control (TOC) law to achieve fast motion with maximum acceleration, and as the system error goes down and falls into some specified region, the control system underwent a bump-less transition into a linear control law for smooth tracking An integration action was also adopted in the linear control region so as to remove the steady-state system error caused by unknown disturbance A reduced-order state observer was designed to estimate the un-measured velocity signal for feedback The closed-loop stability of the control system was analyzed theoretically The control scheme was applied to a permanent magnet synchronous motor servo system for set-point position tracking Experimental study was conducted based on the TMS320F28335 DSP The results show that the proposed control scheme can track a wide range of target references fast and accurately, and has good performance robustness against the amplitude variations of disturbance and perturbation in model parameter

Key words: servo system; state observer; disturbance rejection; time-optimal control (TOC); integral control