带摩擦补偿的运动控制探索型实验设计

Design of an Exploratory Experiment for Motion Control with Friction Compensation

针对典型的伺服机构设计了一个基于线性与非线性控制相结合,利用扩展观测器进行扰动估计的轨迹跟踪控制器,并通过对摩擦力矩的建模,引入摩擦补偿作用。搭建了MATLAB仿真模型进行分析,并基于数字信号处理器TMS320F28335在一个永磁同步电动机试验台上进行了实验测试,比较了控制补偿方案的效果。本设计已用于本科生运动控制和研究生伺服工程课程的教学实践环节,为学生提供了一个把先进技术转化为现实生产力的案例。

Friction is a universal phenomenon in servo mechanisms,and it tends to resist relative motion,which poses a difficulty for precision motion control.Friction becomes more influential in lowspeed region,which is a serious challenge for trajectory tracking control.Hence,friction modeling and compensation is an important research topic for both mechanical engineering and control engineering.This paper,targeting at the typical servo mechanism,designs a trajectory tracking controller using a combination of linear and nonlinear control laws,together with an extended state observer for disturbance estimation.A mathematical modelling of the friction torque is carried out and the resulting model is used to compensate the friction.A simulation module is established in MATLAB for numerical analysis,and then experimental tests on a permanent magnet synchronous motor test bench are conducted using the TMS320F28335 board to demonstrate the feasibility and performance discrepancy of various compensation schemes.The comprehensive experiment has been adopted in the undergraduate module of motion control system practice and the graduate module of servo engineering research training,which provides a paradigm for converting advanced technology into real productivity.