基于自适应摩擦补偿的复合非线性轨迹跟踪控制  

Composite Nonlinear Trajectory Tracking Control Based on Adaptive Friction Compensation

作　　者：石暕 程国扬[1] SHI Jian;CHENG Guoyang(College of Electrical Engineering and Automation,Fuzhou University,Fuzhou 350108,China)

机构地区：[1]福州大学电气工程与自动化学院,福建福州350108

出　　处：《电机与控制应用》2021年第9期14-20,共7页Electric machines & control application

基　　金：国家自然科学基金项目(51977040)。

摘　　要：伺服系统中存在的非线性摩擦环节,往往会使系统的性能受到影响。针对电机伺服系统,设计了一个复合非线性轨迹跟踪控制器,并通过降阶扩展状态观测器对未测量的速度和未知扰动进行估计。为了消除摩擦力带来的不良影响,在轨迹跟踪控制的基础上,加入了自适应摩擦补偿环节。先通过MATLAB进行了仿真分析,后将该方案应用于直流电机伺服系统进行试验验证。仿真与试验结果表明,该自适应补偿方案能有效抑制摩擦产生的不利影响,实现被控系统对目标轨迹快速准确的跟踪。The existence of nonlinear friction often affects the performance of servo systems.A composite nonlinear trajectory tracking controller is designed for typical motor servo systems,and the unmeasured speed and unknown disturbance are estimated through a reduced-order extended state observer.In order to eliminate the adverse effects of friction,an adaptive friction compensation mechanism is added into the trajectory tracking controller.Simulation analysis is carried out through MATLAB,and then the control scheme is applied to a DC motor servo system for experimental verification.Simulation and experimental results show that the adaptive compensation scheme can effectively suppress the adverse effects of friction on the system,thereby enabling the controlled system to track the target trajectory quickly and accurately.

关 键 词：伺服系统 轨迹跟踪 复合非线性控制 摩擦补偿 自适应 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]