[1]张志理,乐贵高,仲健林,等.电机直驱系统快速自适应鲁棒控制[J].机械与电子,2017,(12):63-67.
　ZHANG Zhili,LE Guigao,ZHONG Jianlin,et al.Fast Adaptive Robust Control of Direct-Drive Motor System[J].Machinery & Electronics,2017,(12):63-67.
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电机直驱系统快速自适应鲁棒控制
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2017年12期
页码:
63-67
栏目:
自动控制与检测
出版日期:
2017-12-15

文章信息/Info

Title:
Fast Adaptive Robust Control of Direct-Drive Motor System
文章编号:
1001-2257(2017)12-0063-05
作者:
张志理1; 乐贵高1; 仲健林1; 陈福红2
(1.南京理工大学机械工程学院,江苏 南京 210094; 2.中国航天科技集团公司第七研究院,四川 成都 610100)
Author(s):
ZHANG Zhili1;  LE Guigao1; ZHONG Jianlin1; CHEN Fuhong2
(1.School of Mechanical Engineering,Nanjing University of Science and Technology, Nanjing 210094, China; 2.The Seventh Design Department,Aerospace Science and Technology Corporation,Chengdu 610100,China )
关键词:
电机直驱系统;  模型不确定性;  参数估计补偿;  自适应鲁棒
Keywords:
direct-drive motor system;  model uncertainty;  parameter estimation compensation;  adaptive robust
分类号:
TP273
文献标志码:
A
摘要:
为实现电机直驱系统高精度跟踪性能、快速且准确的参数估计,提出了快速自适应鲁棒控制方法。通过在传统自适应律的设计中引入一种参数估计补偿机制,使所获得的参数自适应律由跟踪误差及参数估计误差同时驱动,且系统外部扰动的影响由非线性鲁棒控制律进行抑制。与传统的自适应鲁棒控制方法相比,其实时参数估计过程更快且参数估计值更加精确,因此具有更好的瞬态及稳态性能。基于Lyapunov稳定性理论证明了闭环系统全局一致有界稳定,通过恰当选择设计参数及初始化误差变量,跟踪误差可收敛至零附近的任意小范围内。仿真结果表明,所提出的控制方法能快速辨识系统未知参数且有效抑制外部扰动,显著提高了系统的跟踪精度。
Abstract:
A fast adaptive robust control scheme is proposed for direct-drive motor system to achieve high precision tracking performance, and fast and accurate parameter estimation. By incorporating a parameter estimation compensation mechanism in the traditional adaptive law design, the derived parameter adaptation law is driven by both the tracking error and parameter estimation error, and the effects of external disturbance are alleviated by the nonlinear robust control law. Compared with the conventional adaptive robust control scheme, the proposed controller has better transient and steady-state performance due to its faster parameter estimation process and more accurate parameter estimates. The global uniformly bounded stability of the closed-loop system is proved based on Lyapunov stability theory, and the tracking error can converge to a small range around zero by properly choosing design parameters and initial error variables. Simulation results indicate that the proposed control scheme can fast identify the unknown system parameters, effectively suppress the external disturbance and apparently improve the tracking performance.

参考文献/References:

[1] 孙宜标, 刘春丽, 王丽梅,等. 永磁环形力矩电机期望补偿自适应鲁棒控制[J].组合机床与自动化加工技术, 2012(6): 71-74.
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备注/Memo

备注/Memo:
收稿日期:2017-07-23
基金项目:江苏省自然科学基金(BK20170837)
作者简介:张志理(1990-),男,河南周口人,硕士研究生,研究方向为机电伺服技术; 乐贵高(1964-),男,江西南昌人,研究员,研究方向为机、电、液系统设计、控制与仿真,复杂系统动力学及优化; 仲健林(1990-),男,江苏泰州人,讲师,研究方向为复杂系统动力学及优化; 陈福红(1989-),男,四川成都人,硕士,研究方向为机电伺服技术。
更新日期/Last Update: 2017-12-25