线性电机伺服系统的自适应鲁棒控制

Adaptive robust control for linear motor servo systems

中文关键词  有限时间控制  高精密伺服系统  自适应控制系统  滑模控制  输入饱和  运动控制

英文关键词  finite-time control  high precision servo system  adaptive control systems  sliding-mode control  input saturation  motion control

中文摘要

      通过对一类音圈电机直驱式精密伺服系统运动控制问题的研究, 在只考虑系统标称模型的情况下, 采用分数阶形式的趋近律, 得到了一种有限时间滑模控制算法; 与此同时, 当系统存在参数不确定和外界干扰的情况下, 将有限时间滑模控制方法和自适应控制理论相结合, 构造了一种自适应滑模控制律. 另一方面, 本文还考虑了系统具有输入饱和约束的情况, 通过引入一个辅助系统, 进而设计了一种自适应抗饱和控制律. 而且, 文中对闭环系统的稳定性进行了证明. 最后, 仿真和实验对所提出控制策略的有效性和伺服精度进行了对比、分析和验证.

英文摘要

      A high precision linear servo system for the voice coil motor (VCM) is studied. The nominal system model without uncertainties is first investigated, for which a finite-time sliding-mode control algorithm is developed based on the fractional-order reaching law. An adaptive sliding-mode control strategy is further designed by combining the finitetime sliding mode control approach with adaptive control theory for the case with parameter uncertainties and external disturbances. Considering the actuator saturation problem frequently occurred in such systems, we propose an adaptive anti-windup control structure by introducing an auxiliary design system on top of the adaptive sliding-mode algorithm. The stability of the closed loop systems with the proposed control architecture is proved. Finally, computer simulations and real time control experiments are performed to validate the proposed design. Comparisons of various algorithms are also provided and analyzed.