迟滞非线性系统自适应鲁棒控制  

Adaptive Robust Control for Hysteresis Nonlinear System

作　　者：王湘江[1] 王兴松[2] 

机构地区：[1]南华大学机械工程学院,衡阳421001 [2]东南大学机械工程学院.南京211189

出　　处：《系统仿真学报》2010年第6期1502-1507,共6页Journal of System Simulation

基　　金：国家自然科学基金(50475076);教育部博士点基金项目(20050286022);湖南省科技厅项目(2008GK3133)

摘　　要：介绍用超磁致伸缩材料与压曲放大机构组合设计的微位移驱动器,并设计了控制系统。建立了超磁致伸缩执行器基于输入电压-输出位移的机电系统传递函数模型。对微位移驱动器的迟滞特性用微分方程建立了模型。在此基础上构造迟滞模型与传递函数相结合的系统模型。由滑模控制理论,对所建模型提出了可以调节信号跟踪精度的自适应鲁棒控制方法,用Lyapunov稳定性理论进行了系统稳定性证明。通过系统模型仿真与simulink中的半实物仿真实现了该控制率,并验证了模型的准确性和补偿控制的有效性。A giant magnetostrictive actuator （GMA） and the control system for it were designed. The GMA is comprised of giant magnetostrictive material （GMM） and buckling micro-displacement magnifying mechanism. Firstly, the transfer function model based on input voltage and output displacement was built up for GMA electromechanical system. Secondly, a differential equation was proposed for hysteresis nonlinear of the GMM. Then the model of GMA was formed by hysteresis model and transfer function. An adaptive robust control law, which is based on sliding model control, was proposed for the model, and the control accuracy could be adjusted in the control law. The control system stability was proved by Lyapunov theory. The robust control law was realized in the system simulations and Real-Time Workshop simulations. Finally, experiments verify the system model and control strategy.

关 键 词：超磁致 迟滞 建模 仿真 自适应 鲁棒控制 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]