含磁滞非线性的电动机伺服系统预设性能跟踪控制  

Prescribed Performance Tracking Control of Motor Servo System with Hysteresis Nonlinearity

作　　者：董振乐[1] 朱忠领[1] 马大为[1] 姚建勇[1] 王晓锋[1] 

机构地区：[1]南京理工大学机械工程学院,南京210094

出　　处：《上海交通大学学报》2015年第12期1803-1808,共6页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金(51305203);江苏省自然科学基金(BK20141402);中国博士后科学基金(2014M551593)资助

摘　　要：针对电动机伺服系统中广泛存在的参数不确定性、不确定非线性(外干扰、非线性摩擦、磁滞等)问题,建立了包含连续可微摩擦模型和磁滞非线性的系统数学模型,提出了一种预设性能控制方法,通过定义预设性能函数,实现了对跟踪误差收敛率、最大超调量和稳态精度的预先设定,并结合自适应鲁棒控制方法实现同时存在参数不确定性、不确定非线性时的优良跟踪,且保证了较好的瞬态跟踪性能.采用李亚普诺夫函数从理论上证明了控制器的稳定性,进一步的仿真对比结果表明,该控制方法展现了优良的瞬态和稳态性能.Aimed at arametric uncertainties,uncertain nonlinearities（external disturbances,nonlinear friction,hysteresis,etc.）in motor servo systems,a mathematic model consisting of a continuously differentiable friction model and nonlinear hysteresis was constructed.A novel method named prescribed performance control which utilized a performance function to characterize the convergence rate,maximum overshoot and steady-state error was integrated with adaptive robust control to achieve the excellent tracking in the presence of parametric uncertainties,uncertain nonlinearities.Besides,excellent transient performance was also guaranteed.The stability was proved via the Lyapunov analysis.Simulation results illustrate that the proposed approach can guarantee an excellent transient performance and steady-state performance.

关 键 词：电动机伺服系统 磁滞 预设性能控制 跟踪控制 连续摩擦补偿 建模不确定性 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]