| 引用本文: | 赵海波,周向红.双电机驱动伺服系统的反推自适应控制[J].控制理论与应用,2011,28(5):745~751.[点击复制] |
| ZHAO Hai-bo,ZHOU Xiang-hong.Backstepping adaptive control of dual-motor driving servo system[J].Control Theory and Technology,2011,28(5):745~751.[点击复制] |
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| 双电机驱动伺服系统的反推自适应控制 |
| Backstepping adaptive control of dual-motor driving servo system |
| 摘要点击 2544 全文点击 1616 投稿时间：2010-04-09 修订日期：2010-08-18 |
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| DOI编号 |
| 2011,28(5):745-751 |
| 中文关键词 齿隙非线性 反推控制 自适应控制 双电机驱动 |
| 英文关键词 backlash nonlinearity backstepping control adaptive control dual-motor driving |
| 基金项目 光电子应用安徽省工程技术研究中心培育基地支持项目. |
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| 中文摘要 |
| 针对存在未知齿隙等非线性的双电机驱动伺服系统的控制问题, 给出了双电机驱动伺服系统的模型, 应用反推控制方法, 引入虚拟控制量的概念, 通过逐步递推选择Lyapunov函数, 在不用知道系统内部不确定性参数的前提下, 设计了基于状态反馈的自适应控制器, 并进行了稳定性分析. 通过与常规PID控制的仿真结果比较, 表明提出的控制策略提高了系统的位置跟踪性能和鲁棒性. 最后在实际系统中进行实验, 结果表明所提出的控制策略是有效的. |
| 英文摘要 |
| We proposed a model for the dual-motor driving servo system with unknown backlash. By introducing the virtual control quantity, using backstepping approach and recursively selecting the Lyapunov function, we designed an adaptive controller with state feedback, and analyzed its stability. This design needs no knowledge about the uncertainty internal parameters of the system. Compared with the conventional PID control in simulation results, the proposed control strategy shows better position tracking performance and higher robustness. Practical experiments also validate the efficacy
of the proposed control strategy. |
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