摘要
电机作为机械手臂的核心元器件,已成为现代工业应用研究必不可少的技术,而双电机协同运动一直是该研究领域的一大热点。因此为解决多电机协同运动、精确位置跟踪和抗干扰等问题,以当下热门的直驱力矩电机组成双耦合电机系统作为研究对象;首先,进行了精确模型下的反演控制器设计和稳定性分析,证明所设计控制律稳定;其次,在未知模型下进行RBF网络反演控制器的设计,通过Lyapunov稳定性证明得到所设计系统稳定可靠;最后,以未知模型下的自适应RBF网络反演控制器为例,进行MTALAB/Simulink仿真分析可知:所设计控制器实现能够较好的位置跟踪、响应速度快,具有很好的应用研究价值。
Motor as the core components of mechanical arm, has become an indispensable technology in modern industrial applications, and dual motor co-movement has been a hot spot in the field of research. Therefore, in order to solve the problem of multi-motor cooperative motion, precise position tracking and anti-jamming, the current dual- coupled motor system is made as the research object. At first, the inversion controller design and stability Secondly, the design of the RBF network inversion controller is carried out under the unknown model, and the designed system is proved to be stable and reliable by I.yapunov stability. Finally, the adaptive RBF network is modeled by the unknown model. In this paper, Controller, for example, MTALAB/Simulink simulation analysis shows that the design of the controller to achieve a better location tracking, fast response, has a good application of research value.
出处
《电子测量技术》
2017年第11期66-70,共5页
Electronic Measurement Technology
关键词
直驱力矩电机
双耦合电机
RBF网络反演控制
位置跟踪
direct drive torque motor
dual coupling motor
adaptive RBF inversion control
position tracking
