抑制线振动台扰动的鲁棒自适应重复控制

Rejection of disturbances in linear vibration table with robust adaptive repetitive control

针对线振动台系统中存在的非线性动态摩擦力及周期性纹波推力扰动,为获得线振动台较高的跟踪精度及鲁棒性能,提出了鲁棒自适应重复控制方法。该方法的控制律包含参数自适应控制、等效PID控制、重复控制和滑模控制。滑模控制用来镇定不确定性系统和保证自适应重复学习过程收敛,参数自适应律用来估计未知模型参数并予以补偿,重复控制用来抑制周期性扰动,提高周期性位置信号的跟踪性能。Lyapunov理论证明该控制律保证了闭环系统渐近稳定性。通过对线振动台系统仿真研究表明该控制律的有效性。

An robust adaptive repetitive control method is presented for the dynamic friction and periodic force ripple in the linear vibration table to improve the tracking accuracy and robust performance. The control algorithm consists of a PID control, an adaptive control, a repetitive control and a sliding mode control. The sliding-mode control term can stabilize the system uncertainty and guarantee the convergence of the adaptive repetitive learning process. The adaptive control is used to estimate and compensate unknown model parameters, while the repetitive control is used to restrain the periodic disturbance and improve the tracking performerce of periodic position signals. The asymptotical stability of the closed-loop system is validated by utilizing the Lyapunov theory. Computer simulations verify the effectiveness of the proposed scheme for the linear vibration table.