一种改进的基于分解控制的非线性力矩补偿策略及其在直流电机系统中的应用

A Modified Nonlinear Force Compensation Scheme Based on Decomposition Control in DC Motor System

针对直流电机系统中存在的非线性摩擦力矩和波动力矩,提出一种改进的非线性力矩补偿策略,将重复控制机制引入到基于分解控制的补偿策略中。其中,鲁棒自适应补偿器用来补偿系统中存在的非线性摩擦力矩和波动力矩;而插入的重复控制器用来进一步提高系统运动曲线的跟踪性能。二者的综合构成了系统完整的控制律。Lyapunov方法证明了闭环控制系统的全局稳定性。最后,通过对高精度伺服系统的仿真研究证明了该改进补偿策略的有效性。

This paper presents a modified compensation scheme of nonlinear forces in the DC motor system. The paper＇s contribution is to add repetitive control scheme into the deeomposition-based control compensation scheme. Robust adaptive compensator is derived to compensate for the influence of the nonlinear friction forces and ripple force in the system. Moreover, the inducted repetitive controller is motivated by the attempt to improve the system motion trajectory tracking performance. The combination of the compensator and the repetitive controller yields the overall control law. The system stability and the uniformly ultimate position tracking performance are guaranteed by utilizing Lyapunov method. The effectiveness of the proposed scheme is demonstrated by computer simulations for high-precision servo system.