大粘滞摩擦因数的永磁伺服系统自适应反步控制

Adaptive Backstepping Control of Permanent Magnet Servo System with Large Viscous Coefficient

对于粘滞摩擦系数大的永磁伺服系统,传统的自适应反步控制会导致参数辨识结果波动较大、不易稳定、转速跟踪性能较差。设计了一种实时辨识粘滞摩擦因数的自适应反步控制器,同时对转动惯量、负载转矩和粘滞摩擦因数进行辨识,提高了对粘滞摩擦因数较大系统的转速跟踪性能和转动惯量及负载转矩辨识精度。所提方法结构简单、易于实现,在d SPACE公司的DS1103系统试验平台上对其进行了试验验证,试验结果表明了所提方法的正确性和有效性。

For permanent magnet servo system with large coefficient of viscous friction, traditional adaptive backstepping control could result in fluctuated and unstable identification results and poor performance of speed tracking. Adaptive backstepping controller identifying viscous friction coefficient was proposed, which was used to estimate the inertia, load torque and viscous friction coefficient simultaneously, improved parameter identification accuracy. The method proposed in this paper had merits of simple structure and usability. The validity and accuracy were verified by experiments based on the platform using dSPACE DS1103 system.