摘要
对于参数不确定的非线性伺服系统,传统PID控制无法达到期望的跟踪精度.自适应鲁棒控制具有自适应能力以及鲁棒特性,能够实现参数不确定的非线性伺服系统的期望性能.本文以自适应鲁棒控制为基础,给出了带有期望补偿的自适应鲁棒控制律设计方案,以满足期望控制指标.通过Matlab/Simulink搭建了实际伺服系统的模型,仿真验证了带有期望补偿自适应鲁棒控制性能的优越性.
For the parameter uncertain nonlinear servo systems, traditional PIE） control can not achieve the desired tracking accuracy. Adaptive robust control （ARC） has the adaptive capacity and robustness and can achieve the desired performance of parameter uncertain nonlinear servo systems. In this paper, based on the traditional adaptive robust control, the design scheme of ARC law with desired compensation （DCARC） for the actual system is put forward to meet expected control index. The model of actual servo control system is built by MATLAB/Simulink, the simulation results confirm feature advantage of the ARC method with desired compensation.
出处
《测试技术学报》
2012年第1期74-77,共4页
Journal of Test and Measurement Technology
