X-Y定位平台的鲁棒自适应摩擦补偿  

Robust adaptive friction compensation for X-Y positioning table

作　　者：王中华[1] 王兴松[1] 徐卫良[1] 

机构地区：[1]东南大学机械工程系,南京210096

出　　处：《东南大学学报（自然科学版）》2002年第1期69-72,共4页Journal of Southeast University：Natural Science Edition

基　　金：国家自然科学基金资助项目 (5 9885 0 0 2 );高校博士学科点专项科研基金资助项目 (980 2 862 5 )

摘　　要：本文首先描述了XY平台实验系统及其模型建立 ,接着 ,针对XY定位平台中存在的载荷及摩擦参数的不确定性问题 ,提出了一种鲁棒自适应运动控制方案 ,所设计的控制器将滑模控制和自适应控制有机地结合在一起 .应用Lyapunov稳定理论证明了控制器的稳定性及跟踪误差的收敛性 .仿真和实验结果表明此方案能够在线辨识摩擦参数 ,具有较高的控制精度 .The X-Y table experiment system and its modeling are described firstly, following it, a robust adaptive motion control approach is proposed to deal with the uncertainty of load and friction parameters existed in the X-Y positioning table. The designed controller is performed by the sliding-mode control combined with adaptive control organically. The global stability of the controller and the global convergence of tracking error are proven using Lyapunov stability theory. The simulation and experimental results are presented to demonstrate the robustness, high accuracy and ability to identify friction parameters on-line of this controller. The proposed approach can be applied in industries.

关 键 词：X-Y定位平台 鲁棒自适应控制 摩擦补偿 跟踪控制 机械系统 机械制造 

分 类 号：TH16[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]