摘要
针对光电平台系统中存在摩擦等非线性干扰严重影响系统低速性能的问题,提出一种预设误差性能的鲁棒反演控制方法。通过设置跟踪误差性能函数,将跟踪误差的收敛速度、最大超调量和稳态值限定在预先设定的收敛范围。采用鲁棒项来抑制系统的摩擦以及未建模动态等非线性干扰,最后利用Lyapunov稳定性理论与反演法设计系统的控制器进行仿真,确保整个闭环系统中的所有信号是有界的,闭环系统是稳定的仿真结果。达到既能保证位置跟踪预期精度,又能使系统的动态性能满足预先设计要求。
For low speed opto- electric servo platform system,nonlinear disturbances such as friction have a strong influence on system＇s performance. In the paper,a stribeck model was adopted to describe the complex characteristics of the friction process. A robust backstepping control method with prescribed performance was proposed for opto- electric servo platform systems. By setting the performance function of the tracking error,the tracking error＇s convergence speed,maximum overshoot and steady- state value were confined to prescribed convergence range. A robust control method was used to deal with nonlinear friction and dynamic modeling. Finally,based on the Lyapunov stability theory,the backstepping controller was designed to ensure the stability of the closed- loop system. This method can not only guarantee the position tracking performance to achieve the desired accuracy,but also make the dynamic performance of the system meet the preset.
出处
《计算机仿真》
CSCD
北大核心
2016年第10期343-347,共5页
Computer Simulation
基金
北京市教委科研计划面上项目资助(KM201210011003)
关键词
光电跟踪系统
预置性能
反演控制
摩擦
Opto-electronic tracking systems
Prescribed performace
Backstepping control
Friction
