机电伺服系统积分鲁棒自适应控制

The Integral Robust Adaptive Control of Mechatronic Servo System

机电伺服系统由于干净、噪音小、维护方便一直受到航空业的关注。机电伺服系统是典型的非线性系统,且存在参数不确定性以及未建模干扰,而机电伺服系统特点是控制精度、稳定性和响应速度要求高,针对以上特点,设计了一种融合新型参数自适应律与误差符号积分鲁棒(RISE)反馈的积分鲁棒自适应控制策略。提出基于参数估计误差的自适应律用于处理系统参数不确定性,加速参数的收敛,而余下的参数不确定性及未建模干扰被RISE鲁棒控制律进一步抑制,从而保证系统获得期望的跟踪精度。基于李雅普诺夫稳定性理论证明设计的积分鲁棒自适应控制器可以使系统得到渐进稳定的结果。仿真结果表明,所提出的控制策略能够有效抑制参数不确定性以及未建模干扰对伺服系统的不利影响,具有良好的参数自适应和抗干扰能力,同时机电伺服系统的跟踪精度得到显著提高。

The mechatronic servo system has always been concerned by aviation industry because of its clean,low noise and convenient maintenance.The mechatronic servo system is a typical nonlinear system with parameter uncertainties and unmodeled disturbances.The mechatronic servo system is characterized by high requirements for control accuracy,stability and response speed.Aimed at the above characteristics,an integral robust adaptive control strategy combining new parameter adaptive law and the robust integral of the sign of the error(RISE)feedback term is designed.An adaptive law based on parameter estimation error is proposed to deal with the system parameter uncertainties and accelerate the parameter convergence.The remaining parameter uncertainties and unmodeled disturbances are further suppressed by RISE robust control law to ensure the desired tracking accuracy of the system.The asymptotic stability of the system is proved based on Lyapunov stability theory.The simulation results show that the proposed control strategy can effectively suppress the adverse effects of parameter uncertainties and unmodeled disturbances on the servo system,and have good parameter adaptation and anti-disturbance ability and apparently improve the tracking accuracy of mechatronic servo systems.