摘要
针对摩擦非线性的存在会使伺服系统控制精度难以提高的问题,建立了考虑动态LuGre摩擦的伺服系统数学模型,在系统参数和负载转矩未知的情况下设计了自适应模糊控制器,用自适应模糊逻辑系统在线逼近包含LuGre摩擦在内的非线性环节,从而实现了伺服系统商精度的位置跟踪.利用Lyapunov函数证明了闭环系统的稳定性.仿真结果表明,该控制器能有效地补偿摩擦非线性的影响,并对负载转矩变化具有较强的鲁棒性.
The servo system control precision is difficult to improve because of the presence of nonlinear friction. Therefore, the servo system model with the dynamic LuGre friction is established. The adaptive fuzzy controller is designed in the case of unknown system parameters and load torque. The adaptive fuzzy logic system is used to approximate the nonlinear part including LuGre friction to achieve high-precision position tracking. It can be ensured theoretically by Lyapunov function that the closed-loop system is stable. Simulation results show that the controller can compensate the influence of nonlinear friction, and be robust for the load torque change.
出处
《控制与决策》
EI
CSCD
北大核心
2013年第8期1253-1256,共4页
Control and Decision
基金
国家自然科学基金项目(60975075
61074023)
江苏省研究生科研创新项目(CXZZ12-0203)
