基于观测器的伺服系统反馈线性化控制
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摘要
基于重载且负载大范围变化的伺服系统提出高精度数学模型,建立扩展卡尔曼观测器对速度和模型中参数进行观测,使用基于模型的反馈线性化方法准确地将模型线性化,并使用线性控制方法设计高精度控制器。该策略的应用不但避免了传感器的测量时带来的误差,同时,在参数准确的条件下能够得到更高的控制精度。仿真实验结果表明:运用所设计的基于扩展卡尔曼观测器的反馈线性化控制策略不仅能够准确地对速度状态和参数进行观测,同时系统在跟踪性能方面也取得了较好的结果。
The high precision mathematical model of the servo system with heavy loads and large range changes is proposed. An extended Kalman observer(EKO) is established to observe the velocity and the parameters in the model. The model is linearized accurately by using the feedback linearization method, and the high precision control strategy is built by using the linear control method. When the feedback control laws are applied in the systems, the measurement errors from the sensors can be avoided and the better tracking performance can be obtained. The simulation results show that EKO can not only accurately estimate the speed and parameters,but also the servo system can achieve satisfactory results in speed tracking and position tracking.
The high precision mathematical model of the servo system with heavy loads and large range changes is proposed. An extended Kalman observer(EKO) is established to observe the velocity and the parameters in the model. The model is linearized accurately by using the feedback linearization method, and the high precision control strategy is built by using the linear control method. When the feedback control laws are applied in the systems, the measurement errors from the sensors can be avoided and the better tracking performance can be obtained. The simulation results show that EKO can not only accurately estimate the speed and parameters,but also the servo system can achieve satisfactory results in speed tracking and position tracking.
引文
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[12] Belanger P R,Dobrovolny P,Helmy A,et al,Estimation of angular velocity and acceleration from shaft-encoder measurements[J]. International Journal of Robotics Research,1998,17(11).
[13] Kostic D,de Jager B,Steinbuch M,et al, Modeling and identification for high-performance robot control:an RRR-robotic arm case study[J]. IEEE Transactions on Control Sys-tems Technology,2004,12(6).
[2] Na J,Chen Q,Ren X M,et al. Adaptive prescribed performance motion control of servo mechanisms with friction compensation[J]. IEEE Transactions on Industrial Electronics,2014,61(1).
[3]何耀华,邓华,钟国梁,基于柔性加减速的重载运动平台的模糊PID控制[J].机电信息,2016(6):89-93.
[4]郑来芳.基于改进的FNNs移动机械臂输出反馈跟踪控制[J].测控技术,2017,36(2).
[5]李会来,李小民,陈静华.非完整移动机器人轨迹跟踪自适应控制器设计[J].传感器与微系统,2011,30(5).
[6]李兵强,陈晓霜,林辉,等.机电伺服系统高精度自适应反推滑模控制[J].吉林大学学报(工学版),2016,46(6).
[7]孙宜标,郭庆鼎.基于滑模观测器的直线伺服系统反馈线性化速度跟踪控制[J].控制理论与应用,2004,21(3).
[8]赵玉壮,卢凡,陈思忠.基于反馈线性化的整车振动状态观测算法[J].北京理工大学学报,2015,35(11).
[9] Zhong G L,Shao Z Z,Deng H,et al. Precise position synchronous control for multi-axis servo systems[J]. IEEE Transactions on Industrial Electronics,2017,64(5).
[10] Yao J Y,Jiao Z X,Ma D W. Adaptive robust control of DC motors with extended state observer[J]. IEEE Transactions on Industrial Electronics,2014,61(7).
[11] Liu C,Liu G,Fang J C. Feedback linearization and extended state observer-based control for Rotor-A MBs system with mismatched uncertainties estimation of angular velocity and acceleration from shaft-encoder measurements[J]. IEEE Transactions on Industrial Electronics,2017,64(2).
[12] Belanger P R,Dobrovolny P,Helmy A,et al,Estimation of angular velocity and acceleration from shaft-encoder measurements[J]. International Journal of Robotics Research,1998,17(11).
[13] Kostic D,de Jager B,Steinbuch M,et al, Modeling and identification for high-performance robot control:an RRR-robotic arm case study[J]. IEEE Transactions on Control Sys-tems Technology,2004,12(6).