并联双模糊控制器在摩擦力补偿中的应用

The Application of Parallel Bi-fuzzy Controller in Friction Compensation

提出一个应用于非线性补偿的主从控制型的并联双模糊控制器。主控制器用来达到快速响应和一定的稳态精度。与主控制器并联的从控制器用来进一步减少系统的跟踪误差。从控制器的设计仅需要用到被控系统的线性模型。所提出的控制策略简单实用 ,真正实现了多级减少误差的目的。理论设计以及在具有非线性摩擦力影响的直流电机速度控制系统的仿真对比实验中表明此模糊控制器除了具有较快的上升时间和无超调外 ,还达到了较好的稳态精度和抗非线性干扰的鲁棒性。

The paper proposes a principal and subordinate parallel bi-fuzzy controller used to compensate for the nonlinear friction.The principal controller is used to reach fast response and steady-state accuracy.Subordinate controller parallelled with principal one is used to reduce further system's tracking error.The control strategy proposed is simple and practice.It is really realized the purpose of multi-level reducing errors.Theory design and simulation comparison experiment in the DC motor velocity control system with the effect of nonlinear friction show the controller can reach excellent steady-state accuracy besides fast rise time and no overshoot.