摘要
齿隙是影响机电伺服系统动/静态性能的一个重要因素.为了减小其不利影响,该文以存在不确定参数的机电位置伺服系统为研究对象,针对系统中存在的齿隙非线性,应用反步积分方法,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.通过理论分析以及与传统PID控制的仿真结果比较表明,该方案显著地降低了齿隙对伺服性能的影响,提高了系统的跟踪精度和鲁棒性.
Backlash is one of the main factors causing deterioration in the overall performance of servo systems. To compensate the influence of backlash on the system, we proposed an adaptive Backstepping-control. The control laws based on state feedback are developed with Backstepping approach for selecting the appropriate Lyapunov function. The analysis and simulation results show that the proposed method greatly compensates the effects of backlash and improves the system tracking accuracy and robustness, in comparison with traditional PID control laws.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2008年第6期1090-1094,共5页
Control Theory & Applications
基金
国家973项目(61358–2).
关键词
齿隙补偿
反步积分自适应控制
伺服系统
backlash compensation
Backstepping-integral adaptive control
servo system
