【作者】 王峰；

【导师】 佟绍成；

【作者基本信息】 辽宁工学院 ， 控制理论与控制工程， 2007， 硕士

【摘要】 本文研究了目前国内外少数可以直接为控制技术应用的旋转型行波超声电机数学模型。同时针对旋转型行波超声电机快速响应,参数时刻变化,系统呈现非线性等特点,在旋转型行波超声电机数学模型的基础上运用间接自适应模糊控制、模糊预测控制和模糊跟踪控制(模糊T-S模型)三种方法研究了旋转型行波超声电机的精确速度控制问题。主要工作如下:1、介绍了旋转型行波超声电机的运行机理和控制策略;研究了目前国内外少数可以直接为控制技术应用的旋转型行波超声电机数学模型。2、在旋转型行波超声电机的非线性模型基础上,提出了间接自适应模糊控制的设计方法,并基于Lyapunov方法对控制系统进行了稳定性分析。通过仿真验证了该方法的有效性和可行性。3、应用模糊预测控制方法,通过预测输出,在线辨识系统参数,根据系统预测输出和参考信号的误差设计模糊控制器。通过仿真验证该方法的有效性和可行性。4、在旋转型行波超声电机的非线性模型基础上,提出使用模糊T-S模型建模,基于线性矩阵不等式,使用分散并行分布补偿控制器的设计方法。并基于Lyapunov方法对控制系统进行了稳定性分析。通过仿真验证了该方法的有效性和可行性。更多还原

【Abstract】 The dissertation is concerned with researching the minority of mathematics model of rotary traveling wave type Ultrasonic Motor which can be used by control technology directly both here and abroad. Meanwhile for the feature of rotary traveling wave type Ultrasonic Motor such as quickly response, parametric variation timely and nonlinear system,on the base of mathematics model of rotary traveling wave type Ultrasonic Motor,it’s used three methods of fuzzy indirectly adaptive control,fuzzy predictive control and fuzzy tracking control(fuzzy T-S model) to research the problem of precise speed control with rotary traveling wave type Ultrasonic Motor.The main contribution of the thesis may be summarized as follows:1. Introducing the running principle and control methods of rotary traveling wave type Ultrasonic Motor;At the same time it research the minority of mathematics model of rotary traveling wave type Ultrasonic Motor which can be used by control technology directly both here and abroad.2. On the base of nonlinear model of rotary traveling wave type Ultrasonic Motor,it’s applyed the method of fuzzy indirectly adaptive control,and analyzed stability of the system with Lyapunov theory stability.According to the stimulation it examined the feasibility and availability of this method.3. For the method of fuzzy predictive control,through predictive output, identified motor’s parameters on line, this fuzzy controller was made by the error between the predictive output of system and reference signal.According to the stimulation it examined the feasibility and availability of this method.4. On the base of nonlinear model of rotary traveling wave type Ultrasonic Motor,it’s applyed the method of fuzzy tracking control(T-S fuzzy model).According to Lyapunov stability theory,the scheme for designing decentralized fuzzy controller was made via LMI and PDC. According to the stimulation it examined the feasibility and availability of this method.更多还原