超声波电动机无模型自适应速度控制研究

Research on Model-Free Adaptive Speed Control of Ultrasonic Motor

为了获得超声波电动机的良好控制性能,在速度控制器的设计中引入了无模型自适应控制方法(MFAC)。分别在期望速度变化和负载扰动的情况下对MFAC和PID控制算法进行仿真实验,以验证MFAC的有效性。结果表明,MFAC具有一定的鲁棒性和自适应性,说明该控制策略对于超声波电动机这种非线性较强的系统是一种有效的方法。

In order to obtain good control performance of the ultrasonic motor,a model-free adaptive control method(MFAC)was introduced in the design of the speed controller.The MFAC and PID control algorithms were used for simulation experiment to verify the effectiveness of MFAC.Experiments were carried out under the conditions of expected speed changes and load disturbances.The results show that MFAC has a certain degree of robustness and adaptability,indicating that the control strategy is an effective method for systems with strong nonlinearities such as ultrasonic motors.