摘要
伺服系统中由于摩擦的非线性和不确定性,严重影响了系统的控制性能。为抑制摩擦对系统性能的影响,设计了一个线性的自抗扰控制器进行摩擦补偿控制。该控制器无需任何系统的模型信息,可将摩擦作为扰动实时估计,并加以补偿。算法简单,鲁棒性强,易于工程实现。对某炮控伺服系统的仿真结果表明,该算法是有效的。
The control performance can be deteriorated a lot by the friction due to its nonlinearity and uncertainty when the servo system runs in low speed.In order to restrain the bad effects of the friction,a linear Auto-Disturbance-Rejection Controller （ADRC） is designed for the servo systems.The friction is regarded as the disturbance and can be estimated on line.Thus,ADRC can compensate the friction automatically using the estimate without any model information of the servo system.This controller has simple form,strong robustness and can be implemented easily in engineering.Simulation results demonstrate the feasibility of the controller.
出处
《计算机工程与应用》
CSCD
北大核心
2007年第29期201-203,共3页
Computer Engineering and Applications
基金
国家部委预研基金项目
关键词
摩擦
非线性
自抗扰控制
friction
nonlinearity
Auto-Disturbance-Rejection Control
