摘要
针对常见的双电机同步消隙伺服系统电流环、速度环、位置环控制结构,提出一种鲁棒性更强、响应速度更快的简化控制策略。利用反步递推理论设计了伺服系统的位置控制器,由经指令滤波处理后的参考位置指令直接计算出力矩信号传递至电流环,简化了系统的控制结构;在反步控制器设计过程中引入积分非奇异终端滑模面,克服了线性滑模的抖动问题,并使得系统在有限时间内到达平衡状态;采用扩张状态观测器对总扰动进行补偿,使得系统对内部结构参数变化及外在扰动均具有较强的鲁棒性。在Matlab/Simulink与Adams中进行了联合仿真实验,仿真结果表明,所研究的新型双电机同步消隙控制方法比传统方案具有更佳的跟踪性能,比普通的扰动补偿方法有更好的抗扰能力。
Aiming at the common current loop,speed loop and position loop control structure of dual-motor synchronous anti-backlash servo system,a simplified control strategy with stronger robustness and faster response speed is proposed.The positon controller of the servo system is designed based on the backstepping theory and the torque reference command is directly calculated and transmitted to the current loop from the reference position command after command-filter processing,which simplifies the control structure.The integral nonsingular terminal sliding surface is introduced in the backstepping controller design process which overcomes the chattering problem of the linear sliding mode control and makes the system reach the equilibrium state in finite time.The extended state observer(ESO)is adopted to compensate the external disturbance which makes the servo system more robust to the changes of the internal structure parameters and external disturbance torque.The co-simulation experiment is carried out in Matlab/Simulink and Adams and the results show that the proposed new dual-motor synchronous anti-backlash method has better tracking performance than tradition scheme and better anti-disturbance ability than the ordinary disturbance compensation method.
作者
李方俊
王生捷
LI Fang-jun;WANG Sheng-jie(Beijing Institute of Mechanical Equipment,Beijing 100854,China)
出处
《现代防御技术》
北大核心
2022年第2期104-112,共9页
Modern Defence Technology
关键词
双电机同步消隙
指令滤波
反步法
积分非奇异终端滑模面
扩张状态观测器
dual-motor synchronous anti-backlash
command-filter
backstepping method
integral nonsingular terminal sliding surface
extended state observer