基于事件触发的多电机驱动系统模糊自适应反步控制  

Event-Trigger Based Multi-Motor Driving System Fuzzy Adaptive Backstepping Control

作　　者：陈志威 罗绍华 李枫韵 胡廷耀 CHEN Zhiwei;LUO Shaohua;LI Fengyun;HU Tingyao(School of Mechanical Engineering,Guizhou University,Guiyang 550025,China;College of Energy and Power Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]贵州大学机械工程学院,贵阳550025 [2]南京航空航天大学能源与动力学院,南京210016

出　　处：《组合机床与自动化加工技术》2025年第2期109-113,119,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(52065008);贵州省科技计划项目([2021]5634);贵州省科技计划项目(PTRC[2020]6007-2);贵州大学“学科倍增提升”行动专项国际影响力提升计划项目(GDXKBZJH-YB-2023-24)。

摘　　要：针对多电机驱动系统,为解决负载装置跟踪参考运动轨迹的控制问题,提出了一种基于事件触发的模糊自适应反步控制方案。首先,建立了多电机驱动系统包含死区、摩擦、未知干扰和工作负载等非线性因素的动力学模型;其次,将速度函数、区间二型模糊神经网络、二阶跟踪微分器融入到反步控制框架中,以解决多电机驱动系统的负载跟踪控制问题;同时,采用事件触发策略更新控制器输入,达到节约通信资源的目的,李雅普诺夫理论证明了所提方案的稳定性;最后,仿真实验结果证明了所设计方案的有效性。An event-trigger based fuzzy adaptive backstepping control is proposed for the load tracking control issue of the multi-motor driving system.First,the dynamic model of the multi-motor driving system with nonlinearities is established,including the dead zone,frictions,unknown disturbances,and workload.Next,the speed function,interval type-2 fuzzy neural network,second-order tracking differentiator are fused into the backstepping framework to tackle the load tracking issues of the multi-motor driving system.Meanwhile,the event-trigger strategy is adopted to save communication resources,Lyapunov theory is used to prove the stability of proposed control scheme.Last,the simulation results prove the effectiveness of designed control scheme.

关 键 词：多电机驱动系统 事件触发 区间二型模糊神经网络 反步控制 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]