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基于修正LuGre模型的反步自适应摩擦补偿控制 被引量：2

Adaptive Backstepping Friction Compensation Control Based on Modified LuGre Model
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摘要 LuGre模型是一种常用的对伺服系统进行动态摩擦建模和补偿的模型。基于一种改进的LuGre模型,建立了伺服系统模型;利用反步自适应控制算法得到系统控制律,并构造Lyapunov函数证明了系统的稳定性;将控制结果方面与传统的前馈PID固定摩擦补偿算法进行比较。仿真结果表明该方法能有效降低摩擦因素的不利影响,且比传统的控制算法具有更高的跟踪精度。 LuGre model has been widely used in servo system for dynamic friction modeling and compensation. Model of servo system was built base on a modified LuGre model. Adaptive backstepping algorithm was used to get the control law, The closed-up system stability was proved according to Lyapunov theory. Compared with tradition feed-forward PID algorithm, the simulation results show that the proposed method can effectively reduce the adverse effect of the friction and improve the system tracking accuracy.
作者 梁青 张剑 王永
机构地区 中国科学技术大学
出处 《微特电机》 北大核心 2011年第11期67-69,共3页 Small & Special Electrical Machines
关键词 修正的LuGre模型 反步自适应控制 摩擦补偿 modified LuGre model adaptive backstepping control friction compensation
分类号 TM383.4 [电气工程—电机]
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参考文献9

  • 1Lu L, Yao B, Wang Q F, et al. Adaptive robust control of linear mo- tors with dynamic friction compensation using modified LuGre mod- el [ J ]. Automatica,2009 (45) :2890-2896.
  • 2Tan Y L, Chang J C, Tan H L, Adaptive Backstepping Control and Friction Compensation for AC Servo With Inertia and Load Uncer- tainties [ J ]. IEEE Transaction on Industrial Electronics, 2003,50 (5) :944-952.
  • 3de Wit C C, Olsson H, htrom K J. A New Model for Control of Sys- tems with Friction [ J ]. IEEE Transactions on Automatic Control, 1995,40(3 ) :419-425.
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  • 5Dupont P, Hayward V, Armstrong B, et al. Single state elasto-plas- tic friction models for friction compensation [ J ]. IEEE Transactions on Automatic Control, 2002,47 (5) :787-792.
  • 6Lampaert V, Swevers J, A1-Bender F. Modification of the Leuven integrated friction model structure[ J]. IEEE Transactions on Auto- matic Control,2002,47 (4) :683 -687.
  • 7A1-Bender F, Lampaert V, Swevers J. The generalized Maxwell slip model: A novel model for friction simulation and compensation [ J ]. IEEE Transactions on Automatic Control, 2005,50 ( 11 ) : 1883-1887.
  • 8周金柱,段宝岩,黄进.LuGre摩擦模型对伺服系统的影响与补偿[J].控制理论与应用,2008,25(6):990-994. 被引量：43
  • 9de Wit C C, Lischinsky P. Adaptive friction compensationwith par- tially known dynamic friction model[ J]. International Journal of A- daptive Control and Signal Process, 1997,11 (1) :65-80.

二级参考文献7

  • 1李文磊,张智焕,井元伟,刘晓平.基于自适应Backstepping设计的TCSC非线性鲁棒控制器[J].控制理论与应用,2005,22(1):153-156. 被引量：14
  • 2BRAIN A H, PIERRE D, CARLOS C D W. A survey of models, analysis tools and compensation methods for the control of machines with friction[J]. Automatica, 1994, 30(7): 1083 - 1138.
  • 3CARLOS C D W, OLSSON H, ASTROMJ, et al. A new model for control of systems with friction[J]. IEEE Transactions on Automatic Control, 1995, 40(3): 419 - 425.
  • 4FARID A B, VINCENT L, JAN S. The generaized maxwell-slip model: a novel model for friction simulation and compensation[J]. IEEE Transactions on Automatic Control. 2005, 50(11): 1883 - 1887.
  • 5ASHWANI K P, JINHYOUNG O, DENNIS S B. On the lugre model and friction- induced hysteresis[C]//Proceedings of the 2006 American Control Conference. Minneapolis, Minnesota: MIT Press, 2006, 8:3247 - 3252.
  • 6TAN Y L, CHANG J C, TAN H L. Adaptive backstepping control and friction compensation for AC servo with inertia and load uncertainties[J]. IEEE Transactions on Industrial Electronics. 2003, 50(5): 944 - 952.
  • 7CARLOS C D W, LISCHINSKY E Adaptive friction compensation with partially known dynamic friction model[J]. International Journal of Adaptive Control and Signal Processing. 1997, 11(1): 65 - 80.

共引文献42

同被引文献20

引证文献2

二级引证文献10

微特电机
2011年 第11期

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