机电运动系统的快速建模与控制  

Fast Speed Modeling and Control for Mechano-electric Motion System

作　　者：杜红彬[1] 许贺楠[1] 俞敏[1] 肖娟[1] 

机构地区：[1]华东理工大学信息科学与工程学院,上海200237

出　　处：《自动化仪表》2009年第5期7-10,共4页Process Automation Instrumentation

基　　金：国家自然科学基金资助项目(编号:60704013)

摘　　要：机电运动系统是一类受未知转动惯量和摩擦力影响的非线性系统,如何对这类系统进行快速、准确地建模是当前研究的难点。分析了Lugre机理模型和神经网络算法建模的局限性;并且针对摩擦力的局部性特点,提出了一种新颖、快速的辨识算法,以保证在芯片或嵌入式处理器上实施。设计了自适应鲁棒控制器以实现光滑的变结构控制,证明了闭环系统的收敛性。通过仿真,验证了其良好的性能。Mechano-electric motion system is one of the nonlinear systems affected by unknown rotating inertia and friction. At present, building model precisely for such systems in fast speed is a challenge in research. The limitations of Lugre mechanism model and neural network algorithm modeling are analyzed. Aiming at the local feature of friction, a new type and fast speed identification algorithm is proposed to guarantee its implementation on chip or embedded processor. In addition, the adaptive robust controller is designed to implement smooth variable structure control; and the convergence of closed loop system is verified. Through simulation, the excellent performance has been proved.

关 键 词：自适应变结构控制 摩擦力辨识 LUGRE模型 运动控制 非线性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]