基于Lu Gre模型的伺服系统自适应控制研究

Adaptive Control of Servo System Based on Lu Gre Model

为减小摩擦等非线性因素对机床进给系统运行平稳性的影响,建立了基于Lu Gre模型的系统动态特性模型,并设计了非线性单观测器估计接触面的变形量。设计自适应摩擦补偿控制器补偿摩擦、系统惯量和外界扰动等,并利用Lyapunov定理证明了系统的全局渐进稳定性。仿真结果表明,自适应参数kz取值在0. 1-0. 12之间、γ1取值在1. 9-2. 1之间时,位置跟踪误差达到了10-3级,速度与位移输出迅速趋于稳定,具有良好的跟踪精度和响应速度,可以有效抑制摩擦和外界扰动对系统的影响。

To reduce the influence of friction and other nonlinear factors on the stability of feed system, the system dy- namic model based on LuGre model is established, and the nonlinear single observer is designed to estimate the deformation of contact surface. An adaptive friction compensation controller is designed to compensate the frictionand external disturb- ance. It is proved that the system of global asymptotic stability by using the Lyapunov theorem. The simulation results show that the adaptive parameter value of k, between 0.1 -0.12,Value of Y l between 1.9 -2.1, the position tracking error has reached 10-3 ,the output speed and displacement quickly stabilized. It has better tracking precision and higher response speed, and the compensation method can effectively suppress the adverse effects of friction and external disturbances on the system.