新型随动系统的非线性控制和综合方法及实验验证(英文)

Synthesis and Experimental Implementation of Backstepping Motion Control System

提出了一种新的电动机随动系统的非线性控制和综合方法。通过引进逆步式设计方法和流程,作者提出了新的随动系统非线性控制的算法和解析解,并且推证了系统的指数式稳定性。进而,作者将非线性控制算法和解析解演化为新的非线性控制系统结构图。在通过数字仿真验证了理论推导后,作者用了单片DSP(TMS320C32)来实现新的电动机随动系统的非线性数字控制。实验和仿真结果验证了新的控制结构和综合方法可以提高随动控制系统的外环频带宽度,减少对于斜坡给定信号的跟踪误差,和提高抗负荷干扰的性能。

A novel nonlinear adaptive backstepping control with integral function is proposed for high-performance motion control systems. The backstepping control utilizes Lyapunov function to guarantee the convergence of the position tracking error from all possible system transient conditions.An integral action is included in the backstepping design at the positioning regulation stage. The added integrator improves the system＇s robustness against the parameter changes and inaccuracy of the modeling, thus improves the steady-state control accuracy. The proposed novel scheme is synthesized and implemented based on a modern DSP controller, TMS320C32. Experimental results and a performance comparison confirm that the proposed scheme offers improved performance in terms of the position trajectory tracking ability to time-varying reference input, system control bandwidth, and robustness against external disturbances.