摘要
双电机驱动伺服系统中存在齿隙非线性和摩擦非线性,从而降低系统跟踪响应速度、稳态精度及其抗干扰能力,为了削弱齿隙和摩擦非线性对系统产生的不利影响,提出了一种新的全系数自适应控制方法。首先分别给出了齿隙和摩擦非线性的动力学模型,然后在此基础上建立了齿隙和摩擦非线性并存时的特征模型,最后进行全系数自适应控制器的设计。将前馈全系数自适应控制和单纯的全系数自适应控制进行仿真比较,结果表明,前者跟踪响应速度快,稳态精度高,抗干扰能力强,具有较高的鲁棒性,说明所提出的控制策略是有效的。
Backlash nonlinearity and friction nonlinearity exist in dual-motor driving servo system, which reducing system response speed, steady accuracy and anti-interference ability. In order to diminish the adverse effects of backlash and friction nonlinearity to system, we proposed a new all-coefficient adaptive control method. Firstly, we introduced the dynamic model of backlash and friction nonlinearity respectively. Then on this basis, we established the characteristic model when backlash and friction nonlinearity coexist. Finally the all-coefficient adaptive controller was designed. The simulations of feed forward all-coefficient adaptive control and simplex all-coefficient adaptive control were compared, the results showed that the former has quicker response speed, higher steady accuracy, stronger anti-interference performance and better robustness, which validating the efficacy of the proposed control strategy.
出处
《井冈山大学学报（自然科学版）》
2016年第3期48-54,共7页
Journal of Jinggangshan University (Natural Science)
基金
安徽省自然科学基金面上项目(1508085MF130)
安徽省高校自然科学研究重点项目(KJ2015A297)
关键词
双电机驱动
齿隙非线性
摩擦非线性
特征模型
全系数自适应控制
dual-motor driving
backlash nonlinearity
friction nonlinearity
characteristic model
all-coefficient adaptive control
