高精度伺服系统的模糊CMAC补偿控制  

Fuzzy CMAC Compensating Control for High Precision Servo System

作　　者：刘士荣[1] 周国成[1] 吴秋轩[1] 史先鹏[2] 

机构地区：[1]杭州电子科技大学自动化研究所,浙江杭州310018 [2]华东理工大学自动化研究所,上海200237

出　　处：《控制工程》2010年第6期836-840,共5页Control Engineering of China

基　　金：浙江省科技计划项目(2007C21051);浙江省教育厅科技计划项目(GK080841);杭州电子科技大学科研启动基金资助项目(KYS09150543)

摘　　要：针对伺服系统存在非线性和参数不确定性,PID等常规控制器几乎无法获得高精度控制性能的问题,提出了一种基于FCMAC的补偿控制器,将其应用于伺服系统的速度闭环控制。FCMAC补偿控制器能够实时在线学习系统的非线性,对参数变化及扰动等因素进行实时补偿。将FCMAC补偿控制器与模型参考跟踪控制结合,能有效地改善伺服系统的鲁棒性。仿真结果进一步表明,该控制策略能降低系统对参数变化和外界扰动等不确定性的灵敏度,即使在持续正弦信号干扰下也具有良好的性能。To the problem that the conventional controller,such as the classical PID,cannot achieve a high precision control for servo systems with nonlinearities and parameter uncertainties,a fuzzy cerebellar model articulation controller（FCMAC） is introduced to the speed control loop of the servo control system.The FCMAC is a compensating controller to learn the nonlinearities and parameter uncertainties of the dynamics of servo system online.Combining the compensating controller based on FCMAC with model reference control,the proposed control strategy can effectively improve the robustness of the servo system by compensating parameter variation and disturbance in real time.The simulation results show that the proposed strategy could effectively reduce thus system sensitivity to parameter variation and external disturbances,even in the extreme case that the system is affected by persistent sinusoidal disturbance.

关 键 词：模糊小脑模型 补偿控制 高精度伺服控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]