摘要
为了保证具有不确定非线性的PM同步伺服电机驱动系统的稳定性,确保闭环系统的输出准确跟踪期望输出并减少不确定项对该驱动系统的影响,利用Lyapunov稳定性理论,设计了一种基于反馈线性化的鲁棒跟踪控制器,并作了相应的仿真研究。仿真结果表明,该控制器不仅确保闭环系统的输出按指数规律跟踪期望输出,而且保证闭环系统状态的一致最终有界。该控制器设计简单,易于实现,具有很好的实用性。
To guarantee that the PM synchronous servo-motor driving is stable and the real output tracks the expected output, a robust tracking controller based on feedback linearization is designed to reduce the impacts moused by the uncertainty of the system, by means of Lyapunov method. The simulation results show that the system output can track the desired output exponentially and all states of the closed-loop system are uniformly ultimately botmded. Moreover, the designed controller is easy to compute and realize.
出处
《控制工程》
CSCD
2008年第1期46-49,共4页
Control Engineering of China
关键词
非线性系统
鲁棒跟踪控制
反馈线性化
PM同步伺服电机
nonlinear systems
robust tracking control
feedback linearization
PM synchronous servo-motor
