控制受限的直流伺服系统非线性摩擦补偿  

Nonlinear Friction Compensation for DC Servo Systems with Constraint Control

作　　者：吴跃飞 殷晓晴 WU Yue-fei;YIN Xiao-qing(College of Automation&College of Artificial Intelligence,Nanjing University of Posts and Telecommunications,Nanjing 210023,China)

机构地区：[1]南京邮电大学自动化学院人工智能学院,南京210023

出　　处：《微特电机》2020年第8期51-54,58,共5页Small & Special Electrical Machines

基　　金：国家博士后基金面上项目(2018M642295)。

摘　　要：针对机电位置伺服系统实际运行时不可测摩擦状态和控制输入限制问题,设计了一种基于辅助系统的鲁棒饱和补偿跟踪策略。该控制策略将包含未知外摩擦状态项视为未知输入,构造不可测摩擦状态观测器。为了解决输入控制受限问题,基于辅助系统设计鲁棒饱和补偿控制器,把它考虑到自适应鲁棒控制器设计进行补偿。仿真和实验结果表明,该补偿策略提高了直流伺服系统的精度,为该类伺服系统高性能控制的分析与设计提供一种理论参考。Aiming at wide variations in moment of friction torque and input constraints of DC servo systems,an adaptive robust control based on dynamic filtering method was presented.A nonlinear observer was constructed to estimate the friction torque.A robust controller was designed to overcome the disturbance caused by parametric uncertainty and model uncertainty.To compensate for the input constraints,a stable linear auxiliary system was developed and introduced into the adaptive robust control.The system stability was proved by Lyapunov analysis.The simulation and experiment results show that the proposed approach can improve control accuracy.It provides a theoretical reference for the analysis and design of high performance control of this kind of servo system.

关 键 词：直流电机 动态面滤波法 自适应鲁棒 摩擦补偿 

分 类 号：TM383.41[电气工程—电机]