基于区间系统描述的超声马达鲁棒跟踪控制

ROBUST TRACKING CONTROL OF ULTRASONIC MOTORS BASED ON INTERVAL SYSTEM DESCRIPTION

对近年来超声马达控制研究的现状作了系统的介绍和评述。针对行波型超声马达,在区间系统描述的数学模型基础上,采用了一种新的鲁棒控制方案,设计鲁棒跟踪控制器。该控制器由标称控制器和鲁棒补偿器两部分构成。首先,针对标称系统设计标称控制器以得到期望的输出跟踪特性,然后加上鲁棒补偿器,以实现鲁棒特性。可以证明,鲁棒稳定性、鲁棒静态特性、鲁棒瞬态特性以及鲁棒跟踪特性可以同时得到。仿真和实验结果都表明了控制方案的有效性,而且该控制器结构简单、参数易于在线调整。

In this paper, the research status of ultrasonic motor control is reviewed and a new robust tracking control method is adopted based on an interval model of the ultrasonic motor. The controller consists of two parts. Firstly, a nominal controller is designed to obtain the desired output tracking for the nominal case, then a robust compensator is added to get robust properties. It can be shown that robust stability, robust static property, robust transient property and robust output tracking property can be achieved simultaneously. Simulation and experiment results demonstrated the efficiency of thecontrol method. The controller has a simple structure and its parameters can be tuned on line easily.