华侨大学学报（自然科学版）
華僑大學學報（自然科學版）
화교대학학보（자연과학판）
JOURNAL OF HUAQIAO UNIVERSITY(NATURAL SCIENCE)
2010年
1期
16-19
,共4页
超声波电机%干扰观测器%系统辨识%线性模型%鲁棒控制
超聲波電機%榦擾觀測器%繫統辨識%線性模型%魯棒控製
초성파전궤%간우관측기%계통변식%선성모형%로봉공제
ultrasonic motor%disturbance observer%system identification%linear modeling%robust control
为解决超声波电机精确建模的问题,将二阶传递函数作为名义模型,通过频域辨识建立超声波伺服系统的线性模型.引入干扰观测器,以抑制各种外部力扰动,并增强伺服系统对参数变化的鲁棒性.以直线超声波电机为例进行仿真和实验,结果表明,控制方法对外部力扰动和参数变化均具有很强的鲁棒性,可以提高超声波电机的运动控制精度.
為解決超聲波電機精確建模的問題,將二階傳遞函數作為名義模型,通過頻域辨識建立超聲波伺服繫統的線性模型.引入榦擾觀測器,以抑製各種外部力擾動,併增彊伺服繫統對參數變化的魯棒性.以直線超聲波電機為例進行倣真和實驗,結果錶明,控製方法對外部力擾動和參數變化均具有很彊的魯棒性,可以提高超聲波電機的運動控製精度.
위해결초성파전궤정학건모적문제,장이계전체함수작위명의모형,통과빈역변식건립초성파사복계통적선성모형.인입간우관측기,이억제각충외부력우동,병증강사복계통대삼수변화적로봉성.이직선초성파전궤위례진행방진화실험,결과표명,공제방법대외부력우동화삼수변화균구유흔강적로봉성,가이제고초성파전궤적운동공제정도.
To solve the problem of precise modeling of ultrasonic motor (USM), the linear model of its servo system is built using frequency domain identification method and regarding the second-order transfer function as the nominal model. Disturbance observer is introduced in the controller design to decrease all kinds of external force disturbance, and improve the robustness to parameter uncertainties. Computer simulation and experiment were developed for USM, and the results show that the proposed control method has strong robustness to parameter variation and external disturbance, and can improve the motion control accuracy.
