鲁棒HMRAC控制器设计及在镗床电机控制中的应用

The design of Robust HMRAC controller and its application in motor control of boring machine

设计了一种任意相对阶数的鲁棒ＨＭＲＡＣ系统，采用补偿多项式，取消了文献［１］中要求系统相对阶数不大于２的限制条件；采用可调线性补偿器，取消了系统参数变化范围已知的假定条件；扩展了应用范围。基于混合误差模型，避免了系统因离散化而引起的非最小相位问题及扰动影响。该系统应用到镗床电机控制中，验证了方案的有效性。

The Robust HMRAC (Hybrid Model Reference Adaptive Control) system with arbitrary relative degree is designed. Adopting the method of polynomial, ttie limitation of relative degree is less than 2 in reference [1] is omitted. Using the adjustable linear compensating device, the assumption of variation range of system parameters is caneeled, so the application scope is enlarged. Based on hybrid error model, the non-minimum phase problem caused by discretization is avoided, and the disturbance effect is eliminated. Finally, the validity of the results is proved.