摘要
本文以国家自然科学基金项目“永磁直线交流电机驱动的高精度微进给伺服系统的研究(59875061)”为背景,以现代高档数控机床用永磁直线同步电动机(PMLSM)伺服系统为研究对象,针对这种直线电机直接驱动的特点,以及数控机床对高精度的伺服系统鲁棒性和跟踪性能双重高要求,传统的单自由度控制器很难在抗扰性和跟踪性之间取得双赢,因此本文所用的方案是:在控制系统总体构建上,以反馈控制为基础,结合前馈控制,设计了一个新颖的二自由度控制器以确保控制系统的鲁棒性、高精度高速度的定位与轨迹跟踪性能。
二自由度控制系统是分别设计鲁棒反馈控制器和前馈控制器,鲁棒反馈控制器主要是确保系统的稳定性和强健的抗扰能力,鲁棒前馈控制器主要是解决系统输出的跟踪能力问题。二自由度控制设计,可以分别独立设计与调整控制器使系统的抗扰能力和跟踪性能都达到最佳状态。鲁棒反馈控制器结构包括:速度回路中的扰动观测器、速度P控制器(或PI控制器)、位置回路中的PD位置控制器与重复控制器。鲁棒前馈控制器是采用了零相位误差跟踪控制器(ZPETC)。设计各种控制器的出发点是根据被控对象与控制器的特点,外界对系统扰动形式以及数控机床进给系统对伺服驱动的要求。
针对PMLSM本身的参数不确定性以及包括摩擦在内的各种非线性扰动影响,本文提出了在速度回路中设计扰动观测器,目的是消除或削弱各种扰动的不良影响。为了确保系统实现渐近稳定过程,在位置回路中采用PD位置控制器的形式。PMLSM存在特有的端部效应而引起附加的周期性推力扰动,在扰动观测器已削弱了这种周期扰动的基础上,在此,有针对性地提出在位置回路中增设一个重复控制器来抑制这种周期性扰动,解决了端部效应所引起的推力周期性波动问题。为了提升高速反应、高精度的定位及对轨迹的跟踪性能,在整个的闭环反馈控制系统前面,采用ZPETC作为前馈控制器的控制方案。
ZPETC与反馈回路中的鲁棒控制器结构相结合,在控制总体框架下,构成了一个新颖的二自由度控制系统,这就很好地解决了扰动抑制能力与跟踪性能之间的矛盾,为控制器设计提供了很大的灵活性。为解决ZPETC的跟踪性能易受系统参数变化影响的缺点,提出了变增益ZPETC,以有效地克服建模误差与参数变化的影响,从而提高了ZPETC本身的参数鲁棒性。为克服ZPETC在补偿相位误差的同时所引起的自身增益损失,进一步改善跟踪性能,提出了L_2最优ZPETC,通过选取适当的目标函数,利用L_2范数优化设计数字前置滤波器,将此滤波器和ZPETC串联成新的前馈控制器来提高前馈增益,进一步提高了跟踪精度。
本文通过仿真和实验研究,验证了所采用的基本理论和提出的控制方法是行之有效的。
Taking the project supported by National Natural Science Foundation of China (The research of high precision micro-feed servo system driven permanent-magnet linear AC motor) as background, this dissertation researches on the permanent magnet synchronous linear motor(PMLSM) servo feeding system used in modern advanced NC machine tool. For the characteristic of direct drive and the double high requirements of robustness and tracking performance for high precision servo system in NC machine tool, it is very difficult to obtain dual gains between rejecting disturbance and tracking performance using traditional single degree of freedom controller, therefore in the dissertation the proposed scheme is to design a novel two-degree-of-freedom(2-DOF) controller to ensure the robustness and high precision and high speed positioning and tracking performance of the system, on the basis of the feedback control, combining with feedforward control.
Robust feedback controller and feedforward controller are designed respectively in 2-DOF control system. Robust feedback controller ensures the stability and the robust restraining disturbance ability of the system, and robust feedforward controller solves mainly the problem of the tracking ability of the system output. 2-DOF control can design and adjust controllers independently to obtain the best state of the restraining disturbance ability and tracking performance. Robust feedback controller consists of the following elements: a disturbance observer in the velocity loop, a velocity P controller( PI controller), a PD feedback controller and a repetitive controller in the position loop. Robust feedforward controller adopts zero phase error tracking controller (ZPETC). According to the characteristic of the controlled plant and controllers, the external disturbance modes and the requirement of servo drive, the controllers are designed.
For the parameters uncertainties for PMLSM servo system and nonlinear disturbances including the friction, a disturbance observer is utilized in the velocity loop to eliminate and attenuate the bad influences of the factors. A PD controller is used in the position loop to construct an asymptotically stable system. However, the periodic force disturbance is generated by specially existing end effect of PMLSM, which can not be rejected effectively by the disturbance observer. For it, a repetitive controller is designed in the position loop to restrain the periodic disturbances. The performance of restraining disturbance is improved. To enhance high-speed response and high accuracy positioning and tracking performance, a ZPETC is added to the closed-loop feedback control system as feedforward controller.
Combining ZPETC with robust feedback controller, a novel 2-DOF control system is designed to solve the conflict between the fast tracking performance and the interference rejection in the linear servo system. ZPETC depends on the model of the system and is sensitive to the parameters changes of the system. For it, the variable gain ZPETC is presented to overcome the influences modeling error and the parameters changes. Thus the robustness of ZPETC is greatly enhanced. ZPETC is used to compensate for the phase error, but this will also cause gain error. To improve the tracking performance of the ZPETC, the optimal design scheme of feedforward controller based on L_2-norm is proposed. The optimal digital pre-filter (DPF) is designed by selecting proper objective function and cascaded to ZPETC. The scheme can ensure the phase error of the system to be zero, at the same time, the gain performance of the system is greatly improved. The tracking precision is enhanced.
Finally, for the proposed methods, the simulations and experiments are conducted, which verify the feasibility of the theory studies and simulation results of the proposed control methods.
引文
[1]张伯霖,程光华,李锻能等.超高速机床进给系统的零传动.制造技术与机床,1997,(8):8-12
[2]张伯霖,谢影明,肖曙红.超高速切削的原理与应用.中国机械工程,1995,6(1):14-17
[3]黄祖尧.精密滚珠丝杠副实现高速化的前景.制造技术与机床,2001,(3):5-7
[4]蔡光起.精密及超精密加工的最新发展.中国机械工程,1996,7(6):107-108
[5]孙广山.超精密机械加工技术及发展动向.中国机械工程,1997,7(1):58-60
[6]夏加宽.高精度永磁直线电机端部效应推力波动及补偿策略研究:(博士学位论文).沈阳:沈阳工业大学,2006
[7]郭庆鼎,王成元,周美文等.直线交流伺服系统的精密控制技术.北京:机械工业出版社,2000
[8]叶云岳.直线电机原理与应用.北京:机械工业出版社,2000
[9]王成元,夏加宽,杨俊友等.电机现代控制技术.北京:机械工业出版社,2006
[10]张元良,刘欣,方加宝等.非轴对称光学表面超精密加工若干关键技术.大连理工大学学报,1999,39(6):766-770
[11]M.Sanada,S.Morimoto.Interior permanent magnet linear synchronous motor for high-performance drives.IEEE IA,1997,33(4):996-972
[12]范大鹏,尹自强,郑子文.直线电机在精密加工中的应用.制造技术与机床,1997,(5):33-35
[13]乔景富.直线电机在机床上的应用.机电一体化,1998,9:67-69
[14]马平.高速数控机床直线进给单元的实验研究.机电工程,1999,16(1):27-28
[15]王先逵,钱磊.高频响大行程微位移机构的研究.中国机械工程,1999,10(9):1005-1007
[16]张春良,陈子辰,梅德庆.直线电动机伺服进给系统及其关键技术问题.组合机床与自动化加工技术,2001,(11):37-40
[17]朱非墨,唐苏亚.直线电动机在高速加工机床上的应用与展望.微特电动机,2003,36(5):47-49
[18]夏加宽,刘晓霞,王成元等.机床进给用直接驱动直线伺服电动机.制造技术与机床,2003,(4):8-11
[19]樊锋,刘强.交流直线电动机矢量变换控制软换向方法及实现.北京航空航天大学学报,2004,30(4):353-357
[20]B.G.Gu and K.Nam.A vector control scheme for a PM linear synchronous motor in extended region.IEEE Trans.on Industry Applications,2003,39(5):1280-1286
[21]王钦若,杜玉晓.交流电动机直接转矩控制技术研究综述.机电工程技术,2005,34(11):13-16.23
[22]邹积浩,朱善安.基于电压预测的永磁直线同步电动机直接推力控制.仪器仪表学报,2005,26(12):1263-1266
[23]肖曙红,夏红梅,张伯霖.基于模糊推理自校正控制的直接驱动进给系统稳定性分析.组合机床与自动化加工技术,2003,(8):47-48,51
[24]钟扬,叶云岳,赵光宙.直线感应电动机的新型PID控制研究综述.微特电机,2002,(2):27-30
[25]L.Yi,M.Tomizuka.Two-degree-of-freedom control with robust feedback control for hard disk servo systems.IEEE/ASME Trans.on Mechatronics,1999,4(1):17-24
[26]K.K.Tan,S.Y.Lim,S.N.Huang.Two-degree-of-freedom controller incorporating RBF adaptation for precision motion control applications.IEEE/ASME Intemational Conference on Advanced Intelligent Mechatronics,1999 Atlanta,USA,848-853
[27]胡庆波,吕征宇.全数字伺服系统中位置前馈控制器的设计.电气传动,2005,35(5):24-27
[28]L.Guo,M.Tomizuka.High-speed and high-precision motion control with an optimal hybrid feedforward controller.IEEE/ASME Trans.on Mechatronics,1997,2(6):110-122
[29]K.Ohishi,Y.Hayakawa,H.Yanagisawa et al.Robust feedforward track following control system for an optical disk drive system.Proceedings of American Control Conference,2003,5(6):4329-4334
[30]郭庆鼎,郭威,周悦.交流永磁直线同步电机伺服系统的预见前馈补偿.电机与控制学报,1999,3(3):172-175
[31]E.D.Tung,M.Tomizuka.Feedforward tracking controller design based on identification of low frequency dynamics.ASME,J.Dynam.Syst.Meas.Control,1993,115(9):348-356
[32]K.Ohishi,Y.Hayakawa,H.Yanagisawa et al.Robust feedforward track following control system for an optical disk.The 7_(th) International Workshop on Advanced Motion Control,2002:57-62
[33]王军平,敬忠良,王安.点位控制数控系统的前馈控制器设计及运动轨迹规划.机械科学与技术,2001,20(3):371-372
[34]S.S.Yeh,P.L.Hsu.An optimal and adaptive design of the feed-forward motion controller.IEEE/ASME Trans.on Mechatronics,1999,4(4):428-439
[35]T.C.Tsao,M.Tomizuka.Adaptive zero phase error tracking algorithm for digital control.ASME,J.Dynam.Syst.Meas.Control,1987,109(5):349-354
[36]M.Tomuzuka.On the design of digital tracking controllers.ASME,J.Dynam.Syst.Meas.Control,1993,115(6):412-418
[37]Y.Funahashi,M.Yamada.Zero phase error tracking controllers with optimal gain characteristics.ASME,J.Dynam.Syst.Meas.Control,1993,115(9):311-318
[38]M.Tomizuka.Zero phase error tracking algorithm for digital control.ASME,J.Dynam.Syst.Meas.Control,1987,109(3):65-68
[39]孙艳娜,郭庆鼎.永磁直线同步伺服电动机H_∞鲁棒自适应控制.电工技术学报,2000,15(4):1-4
[40]M.N.Lee,J.H.Moon,K.B.Jin et al.Robust H_∞ control with multiple constraints for the track-following system of an optical disk drive.IEEE Trans.on Industrial Electronics,1998,45(8):638-645
[41]H.Rotstein,M.Sznaier.An exact solution to general four block discrete time mixed H_2/H_∞problems via convex optization.IEEE Trans.on Automat.Control,1998,43(10):1475-1480
[42]T.Shen,K.Tamura.Robust H_∞ control of uncertain nonlinear systems via state feedback.IEEE Trans.on Automatic Control,1995,39(4):766-768
[43]K.Ohishi,K.Kudo,K.Arai et al.Robust high speed tracking servo system for optical disk system.Proceedings of the 6~(th) International Workshop on Advanced Motion Control.2000:92-97
[44]郭庆鼎,孙艳娜.基于内模原理的永磁直线同步伺服电动机H_∞ 控制.控制理论与应用,2000,17(4):509-512,518
[45]孙宜标,郭庆鼎.基于神经网络给定补偿的交流永磁直线伺服系统滑模控制.电工技术学报,2002,17(3):21-25
[46]孙宜标,郭庆鼎,石丽梅.基于推力观测器的直线式交流伺服系统滑模变结构控制.电工技术学报,1998,13(2):1-5
[47]曾玉金,庞文尧,蒋静坪.复合智能控制在交流伺服系统中的应用.电工技术杂志,2004(1):56-58
[48]孙宜标,郭庆鼎,孙艳娜.基于模糊自学习的交流直线伺服系统滑模变结构控制.电工技术学报,2001,16(1):52-56
[49]翁秀华,郭庆鼎,刘德君.基于模糊自适应PID的双直线电动机同步驱动系统控制.组合机床与自动化加工技术,2004,(9):28-29
[50]傅春,谢剑英.模糊滑模控制研究综述.信息与控制,2001,30(5):434-439
[51]M.Mustafa.Trajectory-adaptive digital tracking controllers for non-minimum phase systems without factorisation of zeros.Control Theory and Applications,2002,149(2):157-162
[52]S.K.Chung,J.S.Lee.Robust speed control ofbrushless direct-drive motor using integral variable structure control.IEEE Procceeding of Electronics Power.1995,142(6):322-326
[53]J.Hu,M.D.Leviner,D.M.Dawson et al.An adaptive tracking controller for multiple-phase permanent magnet machines.INT.J.Control,1996,64(6):997-1022
[54]K.Jiang,J.G.Zhaug,Z.M.Chen.A new approach for the sliding mode control based on fuzzy reaching law.Proceeding of the 4~th World Congress on Intelligent Control and Automation,Shanghai,P.R.China.2002.656-660.
[55]夏加宽,王成元,李皞东等.高精度数控机床用直线电机端部效应分析及神经网络补偿技术研究.中国电机工程学报,2003,23(8):100-104
[56]K.K.Shyu,H.J.Shieh,S.S.Fu.Model reference adaptive speed control for induction motor drive using neural networks.IEEE Trans.on Industrial Electronics,1998,45(4):257-260
[57]郦小敏,王卫红,王宗学.基于RBFN的伺服系统前馈控制器设计和仿真研究.航空学报,2003,24(3):266-268
[58]S.S.Yeh,P.L.Hsu.Analysis and design of the integrated controller for precise motion systems.IEEE Trans.on Control Systems Technology,1999,7(6):706-717
[59]A.M.Mohammed Ibrahim.High performance machine tool controllers-a control theoretic study and a PC-based realization.Berkeley:University of California,1997
[60]雷春林,吴捷,陈渊睿等.自抗扰控制在永磁直线同步电动机控制中的应用.控制理论与应用,2005,22(3):423-128
[61]C.H.Lim,Y.K.Tan,S.K.Panda et al,Position control of linear permanent magnet BLDC servo using iterative learning control.2004 Intermational Conference on Power System Techonlogy -POWERCON,Singapore,2004,1936-1941
[62]J.X.Xu,R.Yan.On repetitive learning control for periodic tracking tasks.IEEE Trans.on Automatic Control,2006,51(11):1842-1847
[63]L.M.Wang,Q.D.Guo.Sensorless control of permanent magnet linear synchronous motor based on nonlinear observer.AMC 2004-Kawasaki,Japan,2004,619-622
[64]C.Koepfer.Linear motor drives——a fast track for machine tools.Machine Shop,1994,(1):64-70.
[65]A.Kochan.Machine tools turn to linear motors.Design News,1999,54(18):80-82
[66][美]明尼苏达大学Kastsuhiko Ogata著,陈杰等译.离散时间控制系统.北京:机械工业出版社,2006
[67]任要正,庞思勤,唐水源.前馈控制方法在非轴对称表面加工中的应用.北京理工大学学报,2001,21(2):201-204
[68]T.Shen,K.Tamura.State feedback performance recovery via an observer in H_∞ robust control.System and Control Letters,1993,21(6):463-473
[69]K.K.Tan,T.H.Lee,H.F.Dou et.al.Precision motion control with disturbance observer for pulsewidth-modulated-driven permanent-magnet linear motors.IEEE Trans.on Magnetics,2003,39(3):1813-1818
[70]C.C.Cheng,C.Y.Chen,G.T.C.Chiu.Predictive control with enhanced robustness for precision positioning in frictional environment.IEEE/ASME Trans.on Mechatronics,2002,7(3):385-392
[71]W.D.Chen,K.L.Yung,K.W.Cheng.A learning scheme for low-speed precision tracking control of hybrid stepping motors.IEEE/ASME Trans.on Mechatronics,2006,11(3):362-365.
[72]W.Osburn Andrew,A.Franchek Matthew.Designing robust repetitive controllers.ASME,J.Dynam.Syst.Meas.Control,2004,126(4):865-872
[73]F.Yasutaka,K.Atsuo.Robust servo system based on two-degree-of-freedom control with sliding mode.IEEE Trans.on Industrial Electronics,1995,42(3):231-336
[74]M.Tomizuka,T.C.Tsao and K.K.Chew.Discrete-time domain analysis and synthesis of repetitive controllers,Preceeding of 1988 America Control Conference,1988,860-866
[75]李庆雷,王先逵,吴丹等.永磁同步直线电机推力波动分析及改善措施.清华大学学报,2000,40(5):33-36
[76]H.C.Lee,G.J.Jeon.Real-time compensation of two-dimensional contour error in CNC machine tools.IEEE/ASME International Conference on Advanced Intelligent Mechatronics,AIM,1999,623-628
[77]蒋培军,齐国生,徐端颐等.微进给工作台伺服控制技术.清华大学学报,2004,44(5):657-660
[78]Y.S.Tarng,H.Y.Chuang,W.T.Hsu.Intelligent cross-coupled fuzzy federate controller design for CNC machine tools based on genetic algorithm.International Journal of Machine Tools Manufacuture,1999,39(10):1673-1691
[79]Y.Y.Chang,P.L.Hsu.The design of precise motion systems by applying both the advanced controllers and the interpolators.AMC2000-NAGOYA.240-245
[80]M.Osak.Linear motors drive motion control.Design Engineering,1998,44(10):17-19
[81]H.Y Chuang,C.H.Liu.A model-referenced adaptive control strategy for improving contour accuracy of multiaxis machine tools.IEEE Trans.on Industry Applications,1992,28(1):221-227
[82]C.C.Lo,C.Y.Chung.Tangential-contouring controller for biaxial motion control.Trans.ASME,J.Dynam.Syst.Meas.Control,1999,121(3):12-129
[83]李庆雷,王先逵.永磁交流同步直线电机位置伺服控制系统设计.中国机械工程,2001,12(5):577-581
[84]Z.Z.Liu,F.L.Luo,M.A.Rahrnan.Robust and precision motion control system of linear-motor direct drive for high-speed X-Y table positioning mechanism.IEEE Trans.on Industrial Electronics,2005,52(5):1357-1363
[85]D.E.Torfs,R.Vuerinckx,J.Swevers et al.Comparison of two feedforward design methods aiming at accurate trajectory tracking of the end point of a flexible robot arm.IEEE Trans.on Control Systems Technology,1998,6(1):2-14
[86]J.Z.Xia,C.H.Meng.Precision Tracking control of non-minimum phase systems with zero phase error.International Journal of Control,1995,61(4):791-807
[87]H.S.Park,P.H.Chang,D.Y.Lee.Continuous zero phase error tracking controller with gain error compensation.Proceedings of the American Control Conference,1999,5:3554-3558
[88]Y.Manabu,F.Yasuyuki.Zero phase error tracking system with arbitrarily specified gain characteristics.ASME,J.Dynam.Syst.Meas.Control,1997,119(2):260-264
[89]Y.Manabu,F.Yasuyuki.Concurrent design of continuous zero phase error tracking controller and sinusoidal trajectory.ASME,J.Dynam.Syst.Meas.Control,2001,123(1):127-129
[90]A.Makur,A.Kumar.Iterative error diffusion halfloning using a zero phase error filter.International Conference on Image Processing,1997,(1):795-798
[91]王亮,林艳芝,王占林.基于最优FCZPETC的下滑操纵飞行指示信号的综合.北京航空航天大学学报,2002,28(3):312-315
[92]刘中轩,张振山.巡航导弹地形跟踪系统仿真的研究.装甲兵工程学院学报,2001,15(3):49-54
[93]S.L.Ho,M.Tomizuka.Robust tracking controller design for high-speed machining.Proceedings of the American Control Conference,1995,(1):215-219
[94]S.L.Ho,M Tomizuka.Robust motion controller design for high-accuracy positioning systems.IEEE Trans.on Industrial Electronics,1996,43(1):48-55
[95]Y.Wang,H.X.Zhen,D.Hart.Robust internal model control with feedforward controller for a high-speed motion platform.IEEE/RSJ International Conference on Intelligent Robots and Systems,2005:187-192
[96]M.Fischer,M.Tomiz-uka.Application and comparison of alternative position sensors in high-accuracy control of an X-Y table.Proceedings of the 4~th International Workshop on Advanced Motion Control,1996,2494-499
[97]N.Weignang,M.Tomizuka.A general framework of coordinated motion control subjected to actuator saturation.Proceedings of the American Control Conference,1998,6:3843-3847
[98]黄祯祥,邓怀雄,郭延文.数控机床交流伺服系统的复合控制研究.中国制造业信息化,2005,34(2):115-116
[99]R.C.Ko,M.C.Good,S.K.Halgamuge.Adaptive calibration of feedforward controllers for nonminimum-phase tracking systems.Proceedings of the American Control Conference,1999,4:2536-2537
[100]K.Irie,S.Katsura,K.Ohishi.Advanced motion control by multi-sensor based disturbance observer.IEEE International Workshop on Advanced Motion Control,2006,200-205
[101]郭庆鼎,孙宜标,王丽梅.现代永磁同步电动机交流伺服系统.北京:中国电力出版社,2006
[102]张宏伟,康润生,王新环等.基于神经网络的永磁直线同步电动机推力波动补偿的仿真研究.电机与控制学报,2004,(4):299-302
[103]T.H.Liu,K.L.Wang,C.G.Chert.A novel two-degree-of-freedom controller design for a permanent magnet linear synchronous motor control system.INT.J.Electronics,2003,90(3):167-183
[104]D.M.Alter,T.C.Tsao.Optimal feedforward tracking control of linear motors for machine tool drives.Proceeding of the American Control Conference Seatlle,Washington,1995.210-214
[105]C.J.Kempf,S.Kobayashi.Disturbance observer and feedforward design for a high-speed direct-drive positioning table.IEEE Trans.on Control Systems Technology,1999,7(5):513-526
[106]杨开明,叶佩青,游华云等.直线电动机精密工作台扰动观测器设计.机械科学与技术,2005,24(12):1430-1432
[107]M.Mizuochi,T.Tsuji,K.Ohnishi.Improvement of disturbance suppression based on disturbance observer.International Workshop on Advanced Motion Control,2006,229-234
[108]T.Hayano,K.Ohishi,T.Miyazaki,D.Koide.Force sensor-less robust tracking servo system suppressing periodic disturbance and sudden disturbance for optical disk system.IEEE Trans.on Industry Applications,2006,126(10):1374-1381
[109]C.C.Wang,M.Tomizuka.Design of robustly stable disturbance observers based on closed loop consideration using H infinity optimization and its applications to motion control systems.Proceedings of the 2004 American Control Conference(AAC),2004,3764-3769
[110]T.Miyazaki,K.Ohishi,I.Shibutani.Perfect tracking control based on prediction of reference for high speed optical disc system.Proceedings of the 33~(rd) Annual Conference of the IEEE Industrial Electronics Society,IECON,2007,345-350
[111]周悦,郭威,郭庆鼎.永磁直线同步电机伺服系统位置控制器的设计.沈阳建筑工程学院学报,1998,14(4):321-326
[112]T.Hayano,I.Shibutani,K.Ohishi.Achievement method of high-speed response of error prediction tracking control for optical disk system.IEEE Trans.on Industry Applications,2007,127,(9):942-949
[113]D.Koide,H.Yanagisawa,H.Tokumaru.High-speed tracking method using zero phase error tracking-feed-forward(ZPET-FF) control for high-data-transfer-rate optical disk drives.Japanese Journal of Applied Physics,2004,43(7):4811-4815
[114]K.Ohishi,T.Miyazaki,K.Inomata.Robust feedforward control system considering sudden disturbance for optical disk recording system.Electrical Engineering,2006,156(4):60-68
[115]M.M.Mustafa,N.R.Yaacob,N.A.Mohamed.Adaptive zero phase error tracking controllers with advance learning.Control and Intelligent Systems,2004,32(2):116-125
[116]K.Ohishi,T.Miyazaki,K.Inomata.Robust tracking servo system considering force disturbance for the optical disk recording system.IEEE Trans.on Industrial Electronics,2006,53(3):838-847
[117]刘金琨.先进PID控制及其MATLAB仿真.北京:电子工业出版社,2003
[118]谢宝昌,任永德.电机的DSP控制技术及其应用.北京:北京航空航天大学出版社,2005
[119]刘和平,严利平,张学锋等.TMS320LF240xDSP结构、原理及应用.北京:北京航空航天大学出版社.2002