[1]程真何,郭 健,季晶晶.具有传动柔性的伺服系统自适应鲁棒控制设计[J].南京理工大学学报(自然科学版),2015,39(06):650.
 Cheng Zhenhe,Guo Jian,Ji Jingjing.Adaptive robust control for servo system with transmission flexibility[J].Journal of Nanjing University of Science and Technology,2015,39(06):650.
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具有传动柔性的伺服系统自适应鲁棒控制设计
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
39卷
期数:
2015年06期
页码:
650
栏目:
出版日期:
2015-12-31

文章信息/Info

Title:
Adaptive robust control for servo system with transmission flexibility
作者:
程真何1郭 健2季晶晶2
1.江苏省电力公司徐州供电公司,江苏 徐州 221005; 2南京理工大学 自动化学院,江苏 南京 210094
Author(s):
Cheng Zhenhe1Guo Jian2Ji Jingjing2
1.State Grid Xuzhou Power Supply Company,Xuzhou 221005,China;
2.School of Automation,NUST,Nanjing 210094,China
关键词:
传动柔性 伺服系统 自适应控制 鲁棒控制 牛顿运动学 自适应补偿 稳定反馈
Keywords:
transmission flexibility servo system adaptive control robust control Newton kinematics adaptive compensation stable feedback
分类号:
TP13
摘要:
针对具有未建模动态、外界扰动的伺服系统,考虑传动柔性,依据牛顿运动学建立了动力学模型。设计了基于Backstepping的自适应鲁棒控制器,包括基于模型在线参数估计的自适应补偿、稳定反馈和鲁棒控制三部分。利用Lyapunov稳定性方法证明了闭环控制系统信号有界,且跟踪误差在任意要求的范围内。实验验证了所提算法的有效性。
Abstract:
For servo systems with un-modeled dynamics and external disturbance,a kinetic model is set up according to the Newton kinematics and considering transmission flexibility.An adaptive robust controller based on Backstepping is designed including adaptive compensation,stable feedback and robust control based on model online parameter estimation.The closed-loop signals are proved to be bounded and the tracking error is within the range of any requirement by Lyapunov stability theory.Experiments verify the effectiveness of the proposed algorithm.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2015-11-23 修回日期:2015-12-06
基金项目:国家自然科学基金(61074023); 江苏省重大科技成果转化项目(BA2015147); 江苏省重点研发计划(BE2015164)
作者简介:程真何(1966-),男,高级工程师,主要研究方向:电力电子、电机控制等,E-mail:chengzhenhe@js.sgcc.com.cn。
引文格式:程真何,郭健,季晶晶.具有传动柔性的伺服系统自适应鲁棒控制设计[J].南京理工大学学报,2015,39(6):650-654.
投稿网址:http://zrxuebao.njust.edu.cn
DOI:10.14177/j.cnki.32-1397n.2015.39.06.003
更新日期/Last Update: 2015-12-31