音圈电机伺服系统的自适应非光滑控制

Adaptive Nonsmooth Control for a Voice Coil Motor Servo System

针对音圈电机伺服系统的轨迹跟踪控制品质受动力学参数不确定性及外部扰动影响的问题,建立动力学模型,结合自适应控制与非光滑控制理论,设计一种自适应非光滑控制方法,并理论证明了闭环系统的渐近稳定性.最后,通过仿真实验及其对比来验证所设计方法的有效性,仿真结果表明,所设计方法具有自适应控制的补偿能力与非光滑控制的快速收敛特性,能够克服不确定性影响,有效提高音圈电机伺服系统的轨迹跟踪控制品质.

Dynamic parameter uncertainty and disturbance degrade the tracking performance of a voice coil motor（ VCM） servo system. In order to solve these problems,a dynamic model is established in this study. A method called‘adaptive nonsmooth control’is synthesized by combining the adaptive control and nonsmooth control. Then,the asymptotic stability of the closed-loop system is proven theoretically. Finally,simulations and comparisons are carried out to validate the effectiveness of the proposed method. The simulation results demonstrate that the proposed method has the adaptive compensation capability for uncertainty and rapid convergence property of nonsmooth control. These properties can effectively improve the tracking performance of VCM servo system against uncertainties.