摘要
针对伺服系统中普遍存在的机械谐振问题,建立了系统的状态方程模型。将与机械谐振密切相关的系统参数设为不确定变量,采用自适应模糊逻辑系统在线估计包含这些参数的非线性环节,并基于反步法设计了自适应模糊控制器,有效地抑制了伺服系统中机械谐振的影响。采用李雅普诺夫方法证明了伺服系统位置跟踪误差的指数收敛性。仿真实验表明本方法具有很好的自适应性能,能够减小系统传递力矩的振荡,显著提高伺服跟踪的精确度和动态性能。
The state equation model is established to solve the mechanical resonance problem which wide- ly exists in servo systems. The system parameters which are closely related to the mechanical resonance were considered uncertain, and the adaptive fuzzy logic systems were used to approximate the nonlinear parts which contained the uncertain parameters online. An adaptive fuzzy controller based on backstep- ping method was developed to inhibit the influence of mechanical resonance effectively. It was ensured theoretically by Lyapunov function that the position tracking error was converged exponentially. Simula- tions show that the backstepping adaptive fuzzy controller not only has good adaptability, but also can re- duce the transmitting torque oscillation and enhance the tracking precision and dynamic performance sig- nificantly.
出处
《电机与控制学报》
EI
CSCD
北大核心
2017年第10期116-122,共7页
Electric Machines and Control
基金
国家自然科学基金(61673214
61673217)
关键词
伺服系统
机械谐振
反步法
自适应模糊控制
李雅晋诺夫函数
servo system
mechanical resonance
backstepping method
adaptive fuzzy control
Lyapunov function
