自适应摩擦估计和补偿控制的高精度机电伺服系统控制研究

Research on high precision direct drive electromechanical servo system control based on adaptive friction estimation and compensation control

为了能较好地克服直接驱动机电伺服系统控制过程中摩擦等干扰因素的影响,使控制结果更为准确,设计了一种自适应摩擦估计和补偿控制的高精度直接驱动机电伺服控制系统。通过对直接驱动伺服系统的运动学进行分析,获取控制系统的非线性方程,并利用该方程得出黏性摩擦、库仑摩擦以及摩擦力矩的方程,利用可变电压脉冲宽度调制(PWM)驱动器设计了直接驱动伺服控制系统。在电磁转矩模型的基础上,求取了伺服系统的控制方程。采用自适应的PID控制器以及最佳跟踪模型,构造了一个具有补偿反馈和比例积分反馈的自适应控制模型,通过该模型自适应地对摩擦值进行估计和补偿,以实现对直接驱动机电伺服系统的准确控制。实验中采用了不同波形作为参考信号的激励,利用本文方法对参考信号进行了拟合。从实验结果可见,本文方法对直接驱动机电伺服系统的控制准确度较高,对不同激励信号的适应性较强,具有较好的控制性能。

In order to overcome the influence of friction and other interference factors in the control process of direct drive electromechanical servo system and make the control result more accurate,a high precision direct drive electromechanical servo control system based on adaptive friction estimation and compensation control is designed in this paper. By analyzing the kinematics of the direct drive servo system,the non-linear equation of the control system is obtained,and the equations of viscous friction,Coulomb friction and friction moment are obtained by using the equation. The direct drive servo control system is designed by using variable voltage pulse width modulation(PWM)driver. Based on the electromagnetic torque model,the control equation of the servo system is obtained. An adaptive control model with compensation feedback and proportional integral feedback is constructed by using adaptive PID controller and optimal tracking model. The friction value is estimated and compensated adaptively by the model to achieve accurate control of direct drive electromechanical servo system. In the experiment,different waveforms are used as the excitation of the reference signal,and the reference signal is fitted by the method in this paper. The experimental results show that the control accuracy of the direct drive electromechanical servo system is high,the adaptability to different excitation signals is strong,and the control performance is good.