Tracking Differentiator for Servo System's Position Controller

Tracking Differentiator is applied to process the digital alternating servo system’s position signal.Tracking differentiator is used to track command signal and feedback signal,transfer them to smooth signal and separate the differentiator signal from them,which builds the element of front feed and error control.Based on tracking differentiator,the principle of nonlinear state error feedback controller is discussed.The proposed control system is successfully tested by means of experiment.It is shown that the design is easy to achieve,the position controller using tracking differentiator can pretreatment the input signal,so the smoothness of the feed forward signal and feed back signal is to make certain.And the nonlinear PID controller is applied,which ensures the controller have high tracking precision,quick response time and favorable control effect as well as preferable robustness to model’s uncertainty and noise measurement.It solves the contradiction of matching among parameters between the position accuracy and responds rapid,and the system dynamic performances are improved as well.