摘要
通过分析摆叶马达伺服系统的非线性特征,得到整个系统的非线性数学模型,并基于该模型为摆叶马达伺服系统设计了非线性Backstepping控制器.结果表明,与常规PID控制系统相比,非线性Backstepping控制系统跟踪误差降低了约50%;非线性Backstepping控制器具有很高的控制精度,能够满足高精度摆叶马达伺服系统的要求.
As the requirement of accuracy of rotary vane actuator servo systems becomes increasingly higher, the nonlinear problems, such as friction, leakage and servo valves, have to be solved promptly. The nonlinear model of system is received from each subsystem, and then adaptive backstepping control is designed on the nonlinear model. Comparison between adaptive backstepping control system and PID control system shows that adaptive backstepping system is more advantageous than PID system. The tracking error of backstepping control system is about fifty percent of that of PID control system. Therefore, adaptive baekstepping control can meet the demands of rota ry vane actuator servo systems
出处
《扬州大学学报（自然科学版）》
CAS
北大核心
2016年第2期37-40,共4页
Journal of Yangzhou University：Natural Science Edition
基金
江苏省青年基金资助项目(BK20150455)
