摘要
为提升电磁直线执行器在动态摩擦力下的跟踪性能与干扰抑制性能,提出基于改进LuGre模型的电磁直线执行器自适应鲁棒控制方法。建立考虑改进LuGre动态摩擦力的高功率密度电磁直线执行器动力学模型,通过非线性观测器来估计动态摩擦模型的不可测内部状态,参数自适应用于减少参数不确定性的影响,设计结合摩擦补偿自适应控制律、稳定反馈和鲁棒控制的自适应鲁棒控制方法,并证明该方法的稳定性;基于皮尔逊相关系数研究控制参数对性能的影响规律,对比分析不同控制算法下电磁直线执行器的运动控制性能以及抗干扰能力。仿真与试验结果表明:非线性增益k_(s1)与k_(s2)是影响控制性能的关键参数,提出的自适应鲁棒控制方法与鲁棒控制以及PID控制相比,在提升控制精确度前提下,响应迅速,能够有效克服非线性摩擦力、系统参数不确定性和外界扰动的影响。
In order to improve the tracking performance and disturbances rejection capability of electromagnetic linear actuators under dynamic friction,an adaptive robust control method with improved LuGre model is proposed.The dynamic model of high power density electromagnetic linear actuator with the improved LuGre dynamic friction model was established.The nonlinear observer was used to estimate the unmeasured internal state of the dynamic friction model,and the parameter adaptive was used to reduce the influence of parameter uncertainty.An adaptive robust control method combining friction compensation adaptive control law,stable feedback and robust control was designed.The stability of the proposed control system was proved.The influence law of control parameters on performance was researched based on pearson correlation coefficient.The motion control performance and disturbance rejection ability of electromagnetic linear actuators under different control algorithms were compared and analyzed.Simulation and test results show that the nonlinear gain k_(s1) and k_(s2) are the key parameters affecting the control performance.The proposed control method effectively overcomes the influence of nonlinear friction,system parameter uncertainty and disturbance,with higher control accuracy and faster response comparing with PID control and robust control.
作者
谭草
黎德祥
葛文庆
李波
陆佳瑜
TAN Cao;LI De-xiang;GE Wen-qing;LI Bo;LU Jia-yu(School of Transportation and Vehicle Engineering,Shandong University of Technology,Zibo 255000,China)
出处
《电机与控制学报》
EI
CSCD
北大核心
2022年第10期130-138,共9页
Electric Machines and Control
基金
国家自然科学基金(51905319,51975341,51875326)
中国博士后科学基金(2021M691984)
山东省中央引导地方科技发展资金项目(YDZX20203700001177)
山东省重大科技创新工程项目(2019TSLH0703)
山东省博士后创新项目(202102049)。
