基于干扰估计的直流电动机间接自适应鲁棒控制

Indirect Adaptive Robust Control of DC Motors with Finite-Time Disturbance Observer

针对广泛存在于直流电动机伺服系统中的参数不确定性和不确定性非线性问题,提出一种基于有限时间干扰观测器的间接自适应鲁棒控制方法.间接自适应控制和有限时间干扰观测器融合在一起,分别处理参数不确定性和不确定非线性,通过李雅普诺夫方法从理论上证明了整个闭环系统的稳定性.仿真结果表明:该方法能准确地对参数和干扰进行估计,且与传统控制方法相比,具有参数及干扰估计精度高、抗扰能力及参数变化鲁棒性强的特点,为提高伺服系统的动态跟踪性能提供了理论依据.

An indirect adaptive robust control with finite-time disturbance observer （FTDO） was proposed for DC motor servo systems with parametric uncertainties and uncertain nonlinearities. Indirect adaptive control for the parameter uncertainties and FTDO for the uncertain nonlinearities were integrated for com- pensation. The global uniform stability of the closed-loop system was proved by Lyapunov analysis. The simulation results reveal that the method proposed in this paper can accurately estimate the system parameters and disturbance, compared with the traditional control method, and hence it possesses the advantages of strong anti-disturbance capability, good robustness and rapid response speed.