基于迭代和扰动观测的间隙实时补偿控制研究

Research on Real-Time Clearance Compensation Control Based on Iterative and Disturbance Observation

针对电动伺服加载系统中传动间隙对加载力的影响,提出了一种基于迭代学习和非线性扰动观测器的滑模控制策略(SMC-ILC&NDOB)。通过迭代算法对传动间隙进行估计,同时利用扰动观测器对间隙的估计值进行补偿,在此基础上设计滑模控制器实现间隙的在线补偿,并根据Lyapunov稳定性定理证明了整个闭环控制系统的稳定性。借助MATLAB/Simulink软件对电动伺服加载系统和控制器进行仿真实验,对PID算法和基于迭代算法和扰动观测器的滑模控制方法进行对比。结果显示基于迭代学习和扰动观测器的滑模控制方法对传动间隙有着不错的补偿效果并拥有较好的鲁棒性。

In this paper,a sliding mode control strategy based on iterative learning and nonlinear disturbance observer(SMC-ILC&NDOB)is proposed for the influence of transmission clearance on the output of electric servo loading system.The clearance is estimated by iterative learning,and the estimated value of the clearance is compensated by nonlinear disturbance observer.On this basis,a sliding mode controller is designed,and the stability of this system is proved by Lyapunov stability theorem.The simulation experiments of the electric servo loading system and controller are carried out by MATLAB/Simulink software.The PID and SMC-ILC&NDOB are compared.And results show that the SMC-ILC&NDOB has weak vibration during the process of the device crossing the clearance,but it can reach the stability faster.When the system is disturbed,SMC-ILC&NDOB is more robust than PID.