摘要
针对含摩擦环节的不确定机械动力系统,建立摩擦力模型及其相应的控制补偿策略一直是人们所关注问题。由于摩擦力所固有的非线性及不确定特征,使得用传统的数学建模与控制补偿方法难以达到满意的系统性能要求。考虑到传统摩擦力模型的缺陷以及不具备自学习和自适应环境的能力,提出用自适应模糊建模技术逼近摩擦动力系统并将辨识结果用在控制器设计中。在用自适应模糊技术建立摩擦模型过程中,自适应参数由跟踪误差和摩擦建模误差共同调节,这加快跟踪误差的收敛速度和模糊建模的逼近精度。在控制器设计方面,考虑到系统存在摩擦建模误差,采用鲁棒控制器设计方案并运用李雅普诺夫稳定性分析证明闭环系统跟踪误差的有界性。数值仿真和试验结果验证了该方法的有效性和实用性。
Modeling and control compensation of fi＇iction force is a challenging task for mechanical systems with uncertain friction.The traditional way, such as mathematical approaches, is found quite difficult to achieve satisfactory performances due to some nonlinearity and uncertainties of the system. In view of the defects and lack of self-learning ability and environmental adaptability of conventional friction models. It aims to develop adaptive fuzzy modeling techniques to characterize the friction dynamics, which can then be employed in a feed-forward compensation control, where both the tracking error and the friction modeling error are utilized to adjust adaptive parameters. An adaptive version of the fuzzy feed-forward compensation control law is employed in the control system. A theoretical result on estimates of error bounds for closed-loop systems is established by the Lyapunov stability theory. Simulation and experiment results demonstrate the usefulness and effectiveness of our proposed control strategy.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2013年第9期61-68,共8页
Journal of Mechanical Engineering
基金
国家自然科学基金(51275085
51135003)
国家重点基础研究发展计划(973计划
2009CB320601)
沈阳市科技基金(F10-205-1-40
F12-175-9-00)
中央高校基本科研业务费专项基金(N110503001)资助项目
关键词
不确定摩擦
自适应
模糊建模
鲁棒控制
Uncertain friction Adaptive Fuzzy modeling Robust control Uncertain friction Adaptive Fuzzy modeling Robust control
