具有传动柔性的伺服系统自适应鲁棒控制设计  

Adaptive robust control for servo system with transmission flexibility

作　　者：程真何[1] 郭健[2] 季晶晶[2] 

机构地区：[1]江苏省电力公司徐州供电公司,江苏徐州221005 [2]南京理工大学自动化学院,江苏南京210094

出　　处：《南京理工大学学报》2015年第6期650-654,共5页Journal of Nanjing University of Science and Technology

基　　金：国家自然科学基金(61074023);江苏省重大科技成果转化项目(BA2015147);江苏省重点研发计划(BE2015164)

摘　　要：针对具有未建模动态、外界扰动的伺服系统,考虑传动柔性,依据牛顿运动学建立了动力学模型。设计了基于Backstepping的自适应鲁棒控制器,包括基于模型在线参数估计的自适应补偿、稳定反馈和鲁棒控制三部分。利用Lyapunov稳定性方法证明了闭环控制系统信号有界,且跟踪误差在任意要求的范围内。实验验证了所提算法的有效性。For servo systems with un-modeled dynamics and external disturbance,a kinetic model is set up according to the Newton kinematics and considering transmission flexibility. An adaptive robust controller based on Backstepping is designed including adaptive compensation,stable feedback and robust control based on model online parameter estimation. The closed-loop signals are proved to be bounded and the tracking error is within the range of any requirement by Lyapunov stability theory. Experiments verify the effectiveness of the proposed algorithm.

关 键 词：传动柔性 伺服系统 自适应控制 鲁棒控制 牛顿运动学 自适应补偿 稳定反馈 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]