【作者】 杨松； 曾鸣； 苏宝库；

【Author】 Yang Song Zeng Ming Su Baoku (Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China)

【机构】 哈尔滨工业大学控制科学与工程系；

【摘要】 针对高精度转台直流力矩电机系统中存在的非线性动态摩擦及周期性波动力矩扰动,为提高转台位置的跟踪精度,提出了一种新的重复自适应摩擦补偿方法,将重复控制机制引入到基于自适应控制的摩擦补偿策略中．电机中摩擦模型采用摩擦参数非一致性变化的LuGre动态模型．该方法的控制律包含一个参数自适应律、等效PD控制律和一个重复控制律．其中,参数自适应律用来估计未知模型参数并予以补偿,而插入的重复控制器用来提高系统运动曲线的跟踪性能．Lyapunov 方法证明该补偿方法保证了闭环系统全局稳定性和对期望位置信号的渐近跟踪．最后,通过对高精度伺服系统的仿真研究证明了该改进补偿方法的有效性．更多还原

【Abstract】 A new repetitive adaptive compensation scheme is proposed for the dynamic friction and periodic ripple moment in a DC (direct current) motor system. The repetitive control scheme is added into the adaptivebased compensation scheme. A LuGre dynamic friction model with non-uniform variation parameters is used in the motor system. The compensation algorithm consists of a PD (proportion differential) component, an adaptive component and a repetitive component. The adaptive component is used to estimate and compensate for unknown model parameters, while the induced repetitive controller is motivated by the attempt to improve the system motion trajectory tracking performance. The system stability and the uniform ultimate position tracking performance are guaranteed by utilizing the Lyapunov method. Finally, computer simulations verify the effectiveness of the proposed scheme for the high-precision servo system.更多还原