运动控制中的鲁棒自适应死区补偿  

Robust adaptive dead-zone compensation in motion control

作　　者：王中华[1] 张勇[1] 

机构地区：[1]济南大学控制科学与工程学院,山东济南250022

出　　处：《控制理论与应用》2008年第3期475-479,共5页Control Theory & Applications

基　　金：山东省优秀中青年科学家奖励基金(2004BS01008).

摘　　要：在高精度PD控制器中,死区可能会产生极限环,而且,死区参数往往未知.本文针对有非对称死区的直流伺服系统,设计了一种鲁棒自适应预补偿控制器,这种控制器不仅对死区的不确定性具有鲁棒性,而且对惯性及粘性摩擦等参数的不确定性,及外部扰动都有较强的鲁棒性.采用Lyapunov理论证明了这种控制器能够保证跟踪误差一致最终有界.并且调整调节控制器的参数可以改变跟踪误差.仿真结果表明了这种方法的有效性.In a high-precision PD controller for motion control, the dead-zone may result in a limit cycle. The exact values of the dead-zone in actuator are always unknown. A robust adaptive controller with a pre-compensator is designed for the DC servo system with unsymmetrical dead-zone. This controller provides a high robustness to the dead-zone, disturbances and uncertainties in parameters such as inertial and viscous friction. By Lyapunov theory, we prove that the tracking error is ultimately uniformly bounded. The tracking error can be altered by adjusting the parameters of the controller. Simulation results are given to demonstrate its efficacy.

关 键 词：死区补偿 鲁棒控制 自适应控制 运动控制 直流伺服系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]