一种转台伺服系统干扰补偿控制方法研究
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摘要
为提高转台伺服系统的低速跟踪性能,提出一种结合LuGre摩擦模型和非线性干扰观测器(NDO)补偿非线性干扰的方法。使用LuGre摩擦模型补偿系统的摩擦干扰力矩,建立NDO模型消除系统建模不精确及其他未知干扰的影响,并采用反演法设计系统的自适应滑模控制律。通过仿真表明,基于LuGre+NDO模型自适应滑模控制能有效消除转台的低速"爬行"现象,位置稳态误差达到2×10–5 rad,速度稳态误差达到1.5×10–3 rad/s。且通过与传统控制方法结果对比,证明所提出的方法具有较好的控制性能和干扰抑制特性,提高伺服系统的跟踪性能。
In order to improve the low-speed tracking performance of the turntable servo system, this paper proposes a method combining LuGre friction model and nonlinear disturbance observer(NDO) to compensate nonlinear interference. This paper uses LuGre friction model to compensate the frictional disturbance torque of the system and establishes NDO model to eliminate the influence of inaccurate system modeling and other unknown disturbances. And the adaptive sliding mode control law of the system is designed by using the backstepping method. The simulation results show that the adaptive sliding mode control based on LuGre+NDO model can effectively eliminate the low speed "crawling" phenomenon of the turntable. The steady state error of the position is 2×10–5 rad. The steady state error of speed is 1.5×10–3 rad/s. Compared with the traditional control method, it is proved that the proposed method has better control performance and interference suppression characteristics, and improves the tracking performance of servo system.
In order to improve the low-speed tracking performance of the turntable servo system, this paper proposes a method combining LuGre friction model and nonlinear disturbance observer(NDO) to compensate nonlinear interference. This paper uses LuGre friction model to compensate the frictional disturbance torque of the system and establishes NDO model to eliminate the influence of inaccurate system modeling and other unknown disturbances. And the adaptive sliding mode control law of the system is designed by using the backstepping method. The simulation results show that the adaptive sliding mode control based on LuGre+NDO model can effectively eliminate the low speed "crawling" phenomenon of the turntable. The steady state error of the position is 2×10–5 rad. The steady state error of speed is 1.5×10–3 rad/s. Compared with the traditional control method, it is proved that the proposed method has better control performance and interference suppression characteristics, and improves the tracking performance of servo system.
引文
[1]李悦.高精度大尺径轴系测角及控制系统研究与设计[D].哈尔滨:哈尔滨工业大学,2016.
[2]于伟,马佳光,李锦英,等.基于LuGre模型实现精密伺服转台摩擦参数辨识及补偿[J].光学精密工程,2011,19(11):2736-2743.
[3]刘东升,白桦,李文君,等.一种LuGre摩擦模型自适应补偿的分析及仿真[J].计算技术与自动化,2015,34(3):16-20.
[4]XIE W F,ZHAO Z Y.Sliding-mode observer based adaptive control for servo actuator with friction[C]//Proceedings of the2007 IEEE International Conference on Mechatronics and Automation,2007.
[5]XIA X H,YU R.Servo system PID control of neural network algorithm based on LuGre model[J].Chemical Engineering Transactions,2015,46:151-156.
[6]SEONG I H,CHAN S J.Robust sliding mode control for uncertain servo system using friction observer and recurrent fuzzy neural networks[J].Journal of Mechanical Science and Technology,2012,26(4):1149-1159.
[7]HOU D Y.Integrated direct/indirect adaptive robust control ofturntable servo system based on LuGre model friction compensation[C]//The 31th Youth Academic Annual Conference of Chinese Association of Automation,2016.
[8]白国振,余洁皓.基于神经网络补偿的转台伺服系统控制研究[J].计算机应用研究,2016,33(6):1676-1681.
[9]常斌,常雅男,艾飞.飞行模拟转台非线性干扰观测器反步滑模控制器设计[J].计算机测量与控制,2016,24(12):67-70.
[10]王喜明.基于LuGre模型的摩擦力矩补偿研究[D].北京:中国科学院研究生院,2007.
[11]CHEN W H.A Nonlinear Disturbance Observer for Robotic Manipulators[J].IEEE Transactions on Industrial Electronics,2000,47(4):932-938.
[2]于伟,马佳光,李锦英,等.基于LuGre模型实现精密伺服转台摩擦参数辨识及补偿[J].光学精密工程,2011,19(11):2736-2743.
[3]刘东升,白桦,李文君,等.一种LuGre摩擦模型自适应补偿的分析及仿真[J].计算技术与自动化,2015,34(3):16-20.
[4]XIE W F,ZHAO Z Y.Sliding-mode observer based adaptive control for servo actuator with friction[C]//Proceedings of the2007 IEEE International Conference on Mechatronics and Automation,2007.
[5]XIA X H,YU R.Servo system PID control of neural network algorithm based on LuGre model[J].Chemical Engineering Transactions,2015,46:151-156.
[6]SEONG I H,CHAN S J.Robust sliding mode control for uncertain servo system using friction observer and recurrent fuzzy neural networks[J].Journal of Mechanical Science and Technology,2012,26(4):1149-1159.
[7]HOU D Y.Integrated direct/indirect adaptive robust control ofturntable servo system based on LuGre model friction compensation[C]//The 31th Youth Academic Annual Conference of Chinese Association of Automation,2016.
[8]白国振,余洁皓.基于神经网络补偿的转台伺服系统控制研究[J].计算机应用研究,2016,33(6):1676-1681.
[9]常斌,常雅男,艾飞.飞行模拟转台非线性干扰观测器反步滑模控制器设计[J].计算机测量与控制,2016,24(12):67-70.
[10]王喜明.基于LuGre模型的摩擦力矩补偿研究[D].北京:中国科学院研究生院,2007.
[11]CHEN W H.A Nonlinear Disturbance Observer for Robotic Manipulators[J].IEEE Transactions on Industrial Electronics,2000,47(4):932-938.