摘要
文中提出了一个基于分解的控制设计框架并合成了摩擦补偿方案,以最合适的控制方法来补偿每个类型的摩擦。具有未知但恒定的参数的未建模摩擦由自适应来进行补偿,而模型参数变化的摩擦及非参数未建模摩擦由鲁棒补偿器来进行补偿。两种补偿器综合起来,构成了总的补偿方案,仿真结果证明了该摩擦补偿方案的有效性。
In this paper,a proposed decomposition-based control design framework is applied to synthesize the friction compensation scheme.A separate compensator is designed for each type of friction utilizing the most suitable control technique.An adaptive compensator is derived to compensate for parametric unmodeled friction with unknown but constant parameters,and a robust compensator is used to deal with friction model parameter variations,as well as non-parametric unmodeled friction,The combination of the compensators yields the overall compensation scheme.The simulation studies have confirmed the efficiency of the proposed friction compensation method.
出处
《机械工程师》
2005年第10期61-63,共3页
Mechanical Engineer
关键词
摩擦补偿
基于分解
自适应控制
鲁棒控制
friction modeling
friction compensation
decomposition-based
adaptive control
robust control
