电机直驱系统快速自适应鲁棒控制

Fast Adaptive Robust Control of Direct-Drive Motor System

为实现电机直驱系统高精度跟踪性能、快速且准确的参数估计,提出了快速自适应鲁棒控制方法。通过在传统自适应律的设计中引入一种参数估计补偿机制,使所获得的参数自适应律由跟踪误差及参数估计误差同时驱动,且系统外部扰动的影响由非线性鲁棒控制律进行抑制。与传统的自适应鲁棒控制方法相比,其实时参数估计过程更快且参数估计值更加精确,因此具有更好的瞬态及稳态性能。基于Lyapunov稳定性理论证明了闭环系统全局一致有界稳定,通过恰当选择设计参数及初始化误差变量,跟踪误差可收敛至零附近的任意小范围内。仿真结果表明,所提出的控制方法能快速辨识系统未知参数且有效抑制外部扰动,显著提高了系统的跟踪精度。

A fast adaptive robust control scheme is proposed for direct-drive motor system to achieve high precision tracking performance,and fast and accurate parameter estimation.By incorporating aparameter estimation compensation mechanism in the traditional adaptive law design,the derived parameter adaptation law is driven by both the tracking error and parameter estimation error,and the effects of external disturbance are alleviated by the nonlinear robust control law.Compared with the conventional adaptive robust control scheme,the proposed controller has better transient and steady-state performance due to its faster parameter estimation process and more accurate parameter estimates.The global uniformly bounded stability of the closed-loop system is proved based on Lyapunov stability theory,and the tracking error can converge to a small range around zero by properly choosing design parameters and initial error variables.Simulation results indicate that the proposed control scheme can fast identify the unknown system parameters,effectively suppress the external disturbance and apparently improve the tracking performance.