伺服电动机系统模型参考自适应建模方法  

Modeling Method for Servo Motor System Based on Model Reference Adaptive System

作　　者：王永强[1] 张承瑞[1] 郎需林[1] 张岳[1] 

机构地区：[1]山东大学机械工程学院,济南250061

出　　处：《农业机械学报》2013年第4期275-279,共5页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点基础研究发展计划(973计划)资助项目(2009CB724406)

摘　　要：提出了一种基于模型参考自适应系统的建模方法,以动态特性优良的低阶系统为参考模型,以伺服电动机系统为被控对象,基于Lyapunov稳定性理论建立模型参考自适应系统,通过试验使可调系统和参考模型达到精确匹配,然后推导了伺服电动机系统的低阶模型。结合实例,利用该方法得出了伺服电动机系统的二阶模型,对该模型和伺服电动机系统在20 s内连续输入50 000个脉冲信号时,两者输出相差在±0.000 63 rad以内,证明了所获得的模型具有较高的精确度。A modeling method was proposed based on model reference adaptive system （MRAS）. According to Lyapunov stability theory, a MRAS was established, with a low-order model which has excellent dynamic characteristics, serve as reference model, and the servo motor system as controlled plant. The low-order model of the servo motor system can be conducted when the adjustable system and reference model achieved an exact match through experiment. Using the proposed method, the second- order model of the servo motor system was derived from the experimental results of case study. The model was proved to have a high accuracy through simulation and experiment. The difference between the two models output within ± 0. 000 63 rad when 50 000 pulse signals were input continuously within 20 s.

关 键 词：伺服电动机系统 模型参考自适应系统 LYAPUNOV 稳定性理论 建模方法 

分 类 号：TM383.4[电气工程—电机] TP273.2[自动化与计算机技术—检测技术与自动化装置]