基于状态观测器的直流伺服系统摩擦补偿  

DC Servo System Friction Compensation Based on State Observer

作　　者：王永宾[1] 林辉[1] 

机构地区：[1]西北工业大学,陕西西安710072

出　　处：《微特电机》2010年第6期49-52,共4页Small & Special Electrical Machines

基　　金：航空科学基金(2007ZC53036)

摘　　要：针对直流伺服系统中非线性摩擦干扰问题,提出了一种基于状态观测器的滑模变结构控制补偿方法,并给出了稳定性证明。对动态摩擦模型中的不可测状态变量设计了一闭环状态观测器,对动态摩擦力矩进行实时估计。在此基础上,对滑模变结构控制器增益通过RBF(Radial Basis Function)网络进行自适应控制,削弱系统抖振。仿真结果表明滑模-RBF网络控制可对非线性摩擦干扰进行有效的补偿,系统的动态、静态性能得到改善。A sliding mode control scheme based on state observer was proposed to eliminate the effect of nonlinear friction disturbances in DC servo systems;at the same time,the stabilization of the scheme was proved.A close-loop state observer on the state that is not measureable was developed in dynamic friction model.With the state observer,the dynamic friction torque was estimated on time.Moreover,the gain of the sliding mode controller was tuned by radial basis function network and the system chattering was attenuated.Simulation results show that the effect of nonlinear friction disturbances can be effectively compensated.The dynamic performance and static performance are improved.

关 键 词：无刷直流电动机 非线性 滑模控制 PID控制 LUGRE模型 RBF神经网络 

分 类 号：TM33[电气工程—电机]