摘要
为了克服齿隙对传动性能的影响,选取死区模型表达齿隙传动效应,依据自适应控制理论提出反步自适应齿隙补偿策略;齿隙模型中主、从动轮结合处存在阻尼系数和刚性系数等未知参数,对其进行了在线估计,并推导设计出每个参数的自适应律;利用Lyapunov稳定性理论,采用反步积分方法,通过逐步递推选取Lyapunov函数,设计了基于状态反馈的自适应控制器;理论分析以及对反步积分自适应补偿控制方法与传统PID控制方法对比仿真表明:该方法有效地消除了齿隙对伺服性能的干扰,提高了系统的跟踪精度和鲁棒性。
In order to overcome the influence of the transmission performance of backlash, the dead zone model was selected to express the backlash transmission effect, and the adaptive control strategy based on adaptive control theory was proposed. The control laws based on state feedback were developed with backstepping approach for selecting appropriate Lyapunov function. Theory analysis and the backstepping integral adaptive compensation control method with the traditional PID control method were used to have simulation and comparison. Simulation results show the method effectively eliminates the backlash on the servo performance of interference, so as to improve the tracking accuracy and robustness of the system.
作者
路晖
胡健
仇杨
LU Hui HU Jian QIU Yang(School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China)
出处
《兵器装备工程学报》
CAS
2017年第2期82-87,共6页
Journal of Ordnance Equipment Engineering
基金
国家自然科学基金项目(51505224
51505203)
江苏省自然科学基金项目(BK20150776)
关键词
伺服系统
自适应控制
反步积分
齿隙补偿
servo system
adaptive control
backstepping integral
backlash compensation
