伺服系统中齿隙非线性的自适应补偿  

Adaptive Compensation of Backlash Nonlinearity for Servo Systems

作　　者：马艳玲[1] 黄进[1] 张丹[1] 

机构地区：[1]西安电子科技大学机电工程学院,西安710071

出　　处：《系统仿真学报》2009年第5期1498-1501,1504,共5页Journal of System Simulation

基　　金：973项目(61358-2)

摘　　要：齿隙是影响机电伺服系统动/静态性能和稳定性的一个重要因素。为了减小其不利影响,提出了反步自适应齿隙补偿方法。依据Lyapunov稳定性理论,应用反步积分方法,通过逐步递推选择Lyapunov函数,设计了基于状态反馈的自适应控制器。理论分析以及与传统PID控制的仿真结果比较表明,该方法显著地降低了齿隙对伺服性能的影响,从而提高了系统的跟踪精度和鲁棒性。Backlash in servomechanisms causes a severe deterioration of system performance. To reduce the influence of backlash on the system, backstepping adaptive approach was proposed. The control laws based on state feedback were developed with backstepping approach for selecting appropriate Lyapunov function. The analysis and simulation results show that the proposed method can greatly mitigate the effects of backlash and improve system tracking accuracy and robustness, compared with traditional PID control law.

关 键 词：齿隙补偿 反步积分 自适应控制 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]