基于连续可微摩擦模型的直流电机扰动补偿自适应控制

Continuously Differentiable Friction Model Based Adaptive Control of DC Motors with Disturbance Compensation

摩擦和未建模动态是电机伺服系统普遍存在的非线性问题,针对这些问题,以直驱直流电机为研究对象,建立了包含连续可微摩擦模型的系统模型,通过对未建模动态的上界进行自适应估计,设计了扰动补偿鲁棒反馈项,进一步采用基于指令的参数回归器,设计了基于指令及指令导数的模型补偿项,降低了系统跟踪性能对测量噪声的敏感度,采用Lyapunov函数证明稳定性,仿真对比结果验证了控制器对于摩擦和扰动具有较好地补偿效果。

Friction and unmodeled dynamics are common nonlinearities existing in motor servo systems.For these problems,by taking direct-drive DC motor for instance,the mathematic model concluding a continuously differentiable friction model is conducted.The bound of the unmodeled dynamics is estimated and the robust disturbances compensation term is designed.Furthermore,a trajectory-based regressor is adopted and the model-based compensation term is designed based on the trajectory and the derivatives of trajectory,which can reduce the noise sensitivity.The stability is proved via the Lyapunov analysis.Simulation results illustrate that the proposed approach can compensate the friction and disturbances well.