直流电机跟踪误差时变约束控制  

Tracking Error Time-Varying Constraint Control for DC Motors

作　　者：陈丽君[1] 姚建勇[2] 杨贵超[2] 

机构地区：[1]中航工业金城南京机电液压工程研究中心,江苏南京211106 [2]南京理工大学机械工程学院,江苏南京210094

出　　处：《计算机仿真》2015年第12期368-372,458,共6页Computer Simulation

摘　　要：电机伺服系统中存在各种未建模扰动,引起系统不稳定。在跟踪控制中如何有效的处理扰动并且对直流电机的输出进行限位控制成为目前研究的焦点。针对存在的问题,选取电机位置伺服系统作为研究对象,建立了系统的非线性模型,同时考虑了系统的外干扰等建模不确定性;并且针对未建模干扰等不确定性通过扩张状态观测器进行估计并前馈补偿,提高了实际电机位置伺服系统对外干扰的鲁棒性;而且利用时变非对称障碍Lyapunov函数所设计的非线性鲁棒控制器能够对输出位置跟踪误差进行时变非对称约束,从而对电机的输出进行限位控制。所设计的非线性鲁棒控制器为全状态控制且控制电压连续,更利于在工程实际中应用。仿真结果验证为直流电机跟踪优化控制提供了依据。There exist various unmodeled disturbances in the motor servo system. How to handle these disturbances effectively and limit the output position of DC motors becomes the focus of current research in the aspect of tracking control. Aiming at the existing problems, the DC motors position servo system is selected as the research object, a non - linear model of the system with the modeling uncertainties is established. Unmodeled disturbance is estimated by an extended state observer （ESO） and is feedforward compensated to improve the robustness of the actual motor position servo system. And a novel time - varying asymmetric barrier Lyapunov function is utilized to constrain the output tracking error, thus the output of the motor is limited to control. The proposed control method is full state feedback control and the designed control input of the nonlinear robust controller is continuous to make the controller more conducive to use in engineering practice. Simulation results demonstrate its effectiveness.

关 键 词：直流电机 扩张状态观测器 跟踪误差时变约束 障碍李雅普诺夫函数 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构] TP391.9[自动化与计算机技术—计算机科学与技术]