数控系统的自适应鲁棒控制器设计

Design of Adaptive Robust Controller for Numerical Control System

基于李雅普诺夫稳定性理论与动态逆方法 ,将自适应鲁棒控制与连续监督控制策略应用于数控系统的控制器设计中 ,用来补偿摩擦非线性、参数不确定性以及模型不确定性的影响 ,能显著增强系统的稳定性和性能鲁棒性 .对该方法进行了理论分析并与基于扰动观测器的控制器进行了对比仿真 。

Based on the Lyapunov stability theory and inverse dynamic method, the adaptive robust control and monitoring strategy were used to treat the problems including the compensation of friction nonlinearity, parameter variation and unmodeled dynamics in the design of the numerical control controller. The proposed controller can enhance the stability robustness and performance robustness. The theoretical analysis and simulation results show that the performance of controller is better than the control strategy based on disturbance observer.