[1]赵国峰,陈庆伟,胡维礼,等.双电机驱动伺服系统齿隙非线性自适应控制[J].南京理工大学学报(自然科学版),2007,(02):187-192.
 ZHAO Guo-feng,CHEN Qing-wei,HU Wei-li.Adaptive Control of Dual-motors Driving Servo System with Backlash Nonlinearity[J].Journal of Nanjing University of Science and Technology,2007,(02):187-192.
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双电机驱动伺服系统齿隙非线性自适应控制
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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:
期数:
2007年02期
页码:
187-192
栏目:
出版日期:
2007-04-30

文章信息/Info

Title:
Adaptive Control of Dual-motors Driving Servo System with Backlash Nonlinearity
作者:
赵国峰;陈庆伟;胡维礼;
南京理工大学自动化学院, 江苏南京210094
Author(s):
ZHAO Guo-fengCHEN Qing-weiHU Wei-li
School of Automation,NUST,Nanjing 210094,China
关键词:
齿隙非线性 B ackstepping 自适应控制 伺服系统 多电机驱动
Keywords:
backlash nonlinearity Backstepping adaptive control servo system mult-imotors driving 机
分类号:
TP273.2
摘要:
该文以参数未知的双电机驱动伺服系统为研究对象,针对施加偏置力矩后的系统,应用Backstepping方法选择控制Lyapunov函数(CLF),设计了基于状态反馈的自适应控制策略,完全消除了齿隙非线性对系统的影响。理论分析和仿真研究表明,该方案能够保证系统稳定地跟踪参考输入,同时保证整个控制系统渐近稳定。
Abstract:
Th is paper stud ies the unknown-param eter dua-lmotors driving servo system w ith loaded torque b ias. Backstepping approach is applied to select the control Lyapunov function. The adaptive contro l law s based on state feedback are deve loped to e lim inate the inf luence of back lash on the system. The ana lysis and simulation show that the scheme can effectively keep track of the reference input and ensure the stab ility of the overall system.

参考文献/References:

[ 1] Su C Y, Tan Y H, Stepanenko Y. Adaptive con tro l of a class o f nonlinear sy stem s preceded by an unknown back lash- like hysteresis [ A]. Proceed ing s of the 39 th IEEE Conference on Decision and Contro l [ C ]. Sydney: Commun ity of the 39th IEEE Conference on Dec is ion and Contro ,l 2000. 1 459- 1 464.
[ 2] Geb le rD, H o ltz J. Identification and compensa tion o f g ea r back lash w ithout output position sensor in h igh-prec ision servo system s [ A]. Proceedings o f the 21 th Annua l Conference of the IEEE [ C ]. A achen: Industrial E lectronics So ciety, 1998. 662- 666.
[ 3] Gaw ronsk iW, Beech-brandt J J, Ah lstrom H G, et a.l Torque-b ias pro file for im proved tracking of the deep space ne-t w ork antennas [ J]. IEEE on Antennas and Propagation, 2000, 42 ( 6): 35- 45.
[ 4] 陈庆伟, 郭毓, 杨静忠. 提高齿隙非线性系统精度的应用研究[ J] . 南京理工大学学报(自科科学版), 2000, 24( 6): 486- 489.
[ 5] Chang Sun La ,i Tsa i Lung W en. On the redundant-drive back lash-free robotic mechan ism s [ J]. Journal o fM echan ica l Design, 1993, 115: 115- 246.
[ 6] Tao G, M a X, Ling Y. Optim al and non linear decoup ling contro l of system s w ith sandw iched back lash [ J]. Automa tica, 2001, 37 ( 2): 165- 176.

备注/Memo

备注/Memo:
基金项目: 国家自然科学基金( 60174019, 60034010)
作者简介: 赵国峰( 1968- ), 男, 山西太原人, 博士生, 主要研究方向: 非线性控制, E-ma il:lhlf_99@ 163. com;
通讯作者: 胡维礼( 1941- ) , 男, 江苏东台人, 教授, 博士生导师, 主要研究方向: 非线性控制, 智能控制理论与系统。国家自然科学基金(60174019,60034010)
更新日期/Last Update: 2007-04-30