含齿隙非线性的双电机驱动伺服系统控制研究--基于反演积分自适应方法

摘要

Aiming at the control problem of the dual-motors driving servo system with backlash nonlinearity, the model of system is given. It utilizes backstepping integral adaptive control strategy, introduces virtual control quantity and the integration of position tracking error so as to ensure that system tracking error asymptotic stable to zero. By recursively selecting the Lyapunov function, it designs an adaptive controller with state feedback, and analyzes its stability. Simula-tion results show that the proposed control strategy greatly compensates the effects of backlash nonlinearity and improves the system position tracking performance and robustness, in compared with conventional PID laws.%针对存在齿隙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，应用反演积分自适应控制方法，引入虚拟控制量和位置跟踪误差的积分，确保系统跟踪误差能够渐近稳定地趋于零。通过逐步递推选择Lyapunov函数，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控制的仿真结果相比较，表明所提出的控制策略能较好地补偿齿隙非线性的影响，提高了系统的位置跟踪性能和鲁棒性。