摘要
针对具有未知传动齿隙的伺服系统,采用双电机同步联动消除齿隙,分别施加偏置力矩,在系统参数未知、存在未建模动态及外界扰动的情况下,设计了基于反步法的自适应鲁棒控制器。该控制器包括基于模型参数在线估计的自适应补偿、稳定反馈和鲁棒控制三部分。通过逐步选择控制系统Lyapunov函数,使得系统闭环控制系统信号有界,且跟踪误差在任意期望的精度内。理论证明和仿真分析验证了算法的有效性。
The control of servo systems with unknown backlash is proposed. An adaptive robust control is designed based on backstepping for the system, by using two motors synchronously driving the system to eliminate the effect of backlash, in which biased-torque is added to each motor and with unknown system parameters, unmodelling dynamics and disturbance. The proposed control consists of three parts：adaptive compensation based on parameter estimation online, stable feedback, robust control. By choosing an appropriate Lyapunov function at each step, the adaptive robust control based on backstepping ensures the system signals bounded and the tracking error of the system can be kept in any desired precision. The effectiveness of the control is proved theoretically and by simulation.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2014年第6期769-774,共6页
Journal of Nanjing University of Science and Technology
基金
国家自然科学基金(61074023)
江苏省科技支撑计划(BE2012175)
江苏省"333工程"科研项目资助计划(BRA2012163)
浙江大学流体动力与机电系统国家重点实验室开放基金(GZKF-201203)
江苏精密制造工程技术研究开发中心开放基金(ZK11-01-06)
关键词
反步法
双电机
伺服系统
自适应鲁棒控制
齿隙
偏置力矩
backstepping
dual-motor
servo system
adaptive robust control
backlash
biased-torque
