机电伺服系统鲁棒自适应重复控制  

Robust Adaptive Repetitive Control of Mechatronic Servo System

作　　者：邓文翔 马吴宁[1] 姚建勇[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》2016年第9期1486-1492,共7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);中国博士后基金(2014M551593)资助项目

摘　　要：针对执行周期性任务的机电伺服系统,设计了一种基于傅里叶级数近似的鲁棒自适应重复控制器,以抑制呈现一定周期性的建模不确定性对伺服性能的不利影响.通过对周期性的建模不确定性进行傅里叶级数近似,将自适应补偿和误差符号积分鲁棒(RISE)反馈相结合,其中自适应律用于处理系统参数不确定性,而RISE鲁棒控制律则可抑制其他非周期性建模不确定性,且鲁棒增益可自动调节.基于Lyapunov稳定性理论证明了闭环系统半全局渐近稳定,且系统所有信号有界.仿真结果表明,所提出的控制策略具有很好的建模不确定性抑制能力,可显著提高机电伺服系统的跟踪精度.Aimed at the performing periodic tasks of mechatronic servo systems, a Fourier series approximation based robust adaptive repetitive controller was proposed to attenuate the adverse effects of modeling uncertainties which show certain periodicity. By using the Fourier series to approximate the periodic modeling uncertainties, the adaptive compensation and the robust integral of the sign of the error （RISE） feed- back were integrated, in which the adaptive law was applied to handle parametric uncertainties and RISE robust term to attenuate other non-periodic modeling uncertainties. In addition, the robust gain could be tuned automatically. The semi-global asymptotic stability of the closed-loop system was proved based on the Lyapunov stability theory. Moreover, all closed-loop signals were bounded. Simulation results show that the proposed control strategy can well suppress the modeling uncertainties and apparently improve the tracking accuracy of mechatronic servo systems.

关 键 词：机电伺服系统 建模不确定性 周期性 鲁棒自适应 重复控制 

分 类 号：TH113[机械工程—机械设计及理论]