基于间隙补偿的自适应鲁棒伺服控制技术研究

摘要

在机械传动系统中,伺服控制精度受大量非线性因素影响诸如饱和非线性,时滞非线性,间隙非线性等的影响.其中间隙非线性广泛存在于伺服系统中,大大影响了系统的性能.文章用一个带有近似误差的微分方程来描述间隙的基本特征,通过自适应方法来处理系统的参数不确定性,同时所运用的鲁棒反馈控制可以很好处理建模的近似误差以及外来扰动.文章中所运用的自适应鲁棒控制方法保证了伺服系统的全局稳定性,同时仿真结果证明了这种方法的有效性.%Backlash has been one of the most important nonlinearities that limit the performance of speed and/or position control in mechanical systems, which could cause a severe deterioration in system performance, even a limit cycle oscillation.In this paper, backlash was modeled by a differential equation to capture its main characteristics together with approximation errors.Parametric uncertainties existing in the differential equation were adopted via an adaptive law, and approximation errors were dominated by a robust feedback law.The proposed adaptive robust control law ensured global stability of the mechanical system.Simulation results were present to verify its effectiveness performed on a motor drive system with gear trains.