摘要
针对电动机伺服系统中广泛存在的参数不确定性、不确定非线性(外干扰、非线性摩擦、磁滞等)问题,建立了包含连续可微摩擦模型和磁滞非线性的系统数学模型,提出了一种预设性能控制方法,通过定义预设性能函数,实现了对跟踪误差收敛率、最大超调量和稳态精度的预先设定,并结合自适应鲁棒控制方法实现同时存在参数不确定性、不确定非线性时的优良跟踪,且保证了较好的瞬态跟踪性能.采用李亚普诺夫函数从理论上证明了控制器的稳定性,进一步的仿真对比结果表明,该控制方法展现了优良的瞬态和稳态性能.
Aimed at arametric uncertainties,uncertain nonlinearities（external disturbances,nonlinear friction,hysteresis,etc.）in motor servo systems,a mathematic model consisting of a continuously differentiable friction model and nonlinear hysteresis was constructed.A novel method named prescribed performance control which utilized a performance function to characterize the convergence rate,maximum overshoot and steady-state error was integrated with adaptive robust control to achieve the excellent tracking in the presence of parametric uncertainties,uncertain nonlinearities.Besides,excellent transient performance was also guaranteed.The stability was proved via the Lyapunov analysis.Simulation results illustrate that the proposed approach can guarantee an excellent transient performance and steady-state performance.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2015年第12期1803-1808,共6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)
中国博士后科学基金(2014M551593)资助
关键词
电动机伺服系统
磁滞
预设性能控制
跟踪控制
连续摩擦补偿
建模不确定性
motor servo system
hysteresis
prescribed performance control
tracking control
continuous friction compensation
modeling uncertainty
