运动控制中先进控制策略的研究综述

The Survey Study of Advanced Control Strategies for Motion Control

动态响应的快速性，稳态跟踪的高精度以及行为的鲁棒性是运动控制应用中的主要性能要求。它们的获得，不仅意味着有执行机构和仪器方面的先进技术，而且重要的是新的控制策略的应用。本文介绍了针对电机速度和位置控制系统中非线性摩擦力进行补偿的几种先进控制策略：基于指数型非线性函数的在线补偿法；基于神经网络的倒控制器补偿法；鲁棒型的重复控制和变结构控制在运动控制中应用。最后，简述了运用其他先进控制策略的可能性。

Fast dynamics, high accuracy and robustness are the main performance requirements in motion control applications. Their attainment implies not only advanced technology in actuators and instrumentation,but also innovative control strategies. This paper presents several advanced control strategies for the compensation for the nonlinear friction in the velocity and position control system of DC motor: the method based on the exponential function online compensation;the method based on the neural network inverse controller, robust repetitive control and variable structure control in the motion control application. In the end, briefly presents the possibility of using other advanced control strategies.