【摘要】 研究滞环参数未知时动态系统的控制问题 .为了消除滞环的影响作用 ,给出了滞环参数估计方法 ,在此基础上提出了基于规则滞环逆补偿器 .对自适应非线性PID控制和基于规则滞环逆补偿组成的混合控制方案进行研究 ,取得了满意的效果 .仿真结果验证了该方法的有效性 .更多还原

【Abstract】 The control of dynamic nonlinear systems with unknown backlash was considered. By using an efficient approach to estimate the unknown backlash parameters, a rule? based backlash compensator was presented for canceling the effect of backlash. Adaptive nonlinear PID controller together with rule? based backlash compensator was developed and a satisfactory tracking performance was achieved. Simulation results demonstrated the effectiveness of the proposed method.更多还原