计算机工程与应用
計算機工程與應用
계산궤공정여응용
COMPUTER ENGINEERING AND APPLICATIONS
2015年
2期
39-45
,共7页
齿隙非线性%反演控制%自适应控制%双电机驱动%状态反馈
齒隙非線性%反縯控製%自適應控製%雙電機驅動%狀態反饋
치극비선성%반연공제%자괄응공제%쌍전궤구동%상태반궤
backlash nonlinearity%backstepping control%adaptive control%dual-motors driving%state feedback
针对存在齿隙非线性的双电机驱动伺服系统的控制问题，给出了双电机驱动伺服系统的模型，应用反演积分自适应控制方法，引入虚拟控制量和位置跟踪误差的积分，确保系统跟踪误差能够渐近稳定地趋于零。通过逐步递推选择Lyapunov函数，设计了基于状态反馈的自适应控制器，并进行了稳定性分析。通过与常规PID控制的仿真结果相比较，表明所提出的控制策略能较好地补偿齿隙非线性的影响，提高了系统的位置跟踪性能和鲁棒性。
針對存在齒隙非線性的雙電機驅動伺服繫統的控製問題，給齣瞭雙電機驅動伺服繫統的模型，應用反縯積分自適應控製方法，引入虛擬控製量和位置跟蹤誤差的積分，確保繫統跟蹤誤差能夠漸近穩定地趨于零。通過逐步遞推選擇Lyapunov函數，設計瞭基于狀態反饋的自適應控製器，併進行瞭穩定性分析。通過與常規PID控製的倣真結果相比較，錶明所提齣的控製策略能較好地補償齒隙非線性的影響，提高瞭繫統的位置跟蹤性能和魯棒性。
침대존재치극비선성적쌍전궤구동사복계통적공제문제，급출료쌍전궤구동사복계통적모형，응용반연적분자괄응공제방법，인입허의공제량화위치근종오차적적분，학보계통근종오차능구점근은정지추우령。통과축보체추선택Lyapunov함수，설계료기우상태반궤적자괄응공제기，병진행료은정성분석。통과여상규PID공제적방진결과상비교，표명소제출적공제책략능교호지보상치극비선성적영향，제고료계통적위치근종성능화로봉성。
Aiming at the control problem of the dual-motors driving servo system with backlash nonlinearity, the model of system is given. It utilizes backstepping integral adaptive control strategy, introduces virtual control quantity and the integration of position tracking error so as to ensure that system tracking error asymptotic stable to zero. By recursively selecting the Lyapunov function, it designs an adaptive controller with state feedback, and analyzes its stability. Simula-tion results show that the proposed control strategy greatly compensates the effects of backlash nonlinearity and improves the system position tracking performance and robustness, in compared with conventional PID laws.
