基于反步法的双电机同步联动伺服系统自适应鲁棒控制

Adaptive robust control for dual-motor synchronous servo system based on backstepping

针对具有未知传动齿隙的伺服系统,采用双电机同步联动消除齿隙,分别施加偏置力矩,在系统参数未知、存在未建模动态及外界扰动的情况下,设计了基于反步法的自适应鲁棒控制器。该控制器包括基于模型参数在线估计的自适应补偿、稳定反馈和鲁棒控制三部分。通过逐步选择控制系统Lyapunov函数,使得系统闭环控制系统信号有界,且跟踪误差在任意期望的精度内。理论证明和仿真分析验证了算法的有效性。

The control of servo systems with unknown backlash is proposed. An adaptive robust control is designed based on backstepping for the system, by using two motors synchronously driving the system to eliminate the effect of backlash, in which biased-torque is added to each motor and with unknown system parameters, unmodelling dynamics and disturbance. The proposed control consists of three parts：adaptive compensation based on parameter estimation online, stable feedback, robust control. By choosing an appropriate Lyapunov function at each step, the adaptive robust control based on backstepping ensures the system signals bounded and the tracking error of the system can be kept in any desired precision. The effectiveness of the control is proved theoretically and by simulation.