摘要
摩擦非线性扰动是影响伺服跟踪系统控制性能的主要因素之一。为提高转台伺服系统的跟踪性能,提出了一种基于Elastoplastic摩擦模型的改进自抗扰控制方法。首先,建立了转台伺服系统的状态空间模型;其次,采用Elastoplastic摩擦模型描述系统中的非线性摩擦扰动,并用遗传算法辨识了模型参数;最后,基于辨识获得的Elastoplastic摩擦模型,将位置误差和速度误差作为不同的参数分别应用到扩张状态观测器,设计了一种改进型自抗扰控制器。未引入摩擦补偿时的速度跟踪误差平均值约为0.0024 rad/s,而加入补偿后的速度跟踪误差平均值减少为0.00147 rad/s。仿真和实验结果表明,本文提出的控制方案能够提高转台伺服系统的跟踪性能,验证了所提出控制方法的有效性和鲁棒性。
Friction nonlinear disturbance is one of the main factors that affect the control performance of servo tracking system.In order to improve the tracking performance of turntable servo system,an improved active disturbance rejection control method based on Elastoplastic friction model was proposed.Firstly,the state space model of turntable servo system was established.Secondly,the nonlinear friction disturbance in the system was described by Elastoplastic friction model,and the model parameters were identified by genetic algorithm.Finally,based on the Elastoplastic friction model obtained by identification,the position error and velocity error were applied to the extended state observer as different parameters respectively to design the improved active disturbance rejection controller.The mean value of velocity tracking error without friction compensation is about 0.0024 rad/s,while the mean value with compensation is reduced to 0.00147 rad/s.Simulation and experimental results show that the proposed control scheme can improve the tracking performance of the turntable servo system,and the effectiveness and robustness of the proposed control method was verified.
作者
吴旭
张倩
王群京
崔宁豪
WU Xu;ZHANG Qian;WANG Qunjing;CUI Ninghao(School of Electrical Engineering and Automation,Anhui University,Hefei 230601,China;National Engineering Laboratory of Energy-saving Motor&Control Technology,Anhui University,Hefei 230601,China;Engineering Research Center of Power Quality,Ministry of Education,Anhui University,Hefei 230601,China;Industrial Power-saving and Electricity-safety Laboratory,Anhui University,Hefei 230601,China)
出处
《微电机》
2021年第5期62-66,85,共6页
Micromotors
基金
国家自然科学基金重点项目(51637001),国家自然科学基金项目(51507001)。