摘要
由于直线电动机系统具有模型不确定、参数时变、动力非线性等特点,再加上外部干扰因素的影响,导致直线电动机的控制性能明显下降。针对动态摩擦力的非线性对直线电动机的影响,建立了直线电动机改进LuGre动态摩擦力模型,并讨论了所建模型的几种特性;结合上述模型和自适应鲁棒控制技术,提出了一种基于改进LuGre模型的直线电动机动态摩擦力补偿方法,并设计了一种稳定的不可测内状态观测器;最后,在低速和高速条件下进行了实验研究。实验结果验证了模型补偿和自适应鲁棒控制算法的有效性。
The linear motor control performance will significantly decrease because of its characteristics such as model uncertainty,parameter time- varying,dynamic nonlinearity and so on coupled with the influence of external disturbance.Considering the influence of nonlinear characteristics of linear motor dynamic friction,the modified LuGre friction model of linear motor was established and several characteristics of the model were discussed in this paper. Combining with the above model and the adaptive robust control technology,a dynamic friction compensation method of linear motor systems based on modified LuGre was proposed,and a kind of stable unpredictable state observer was designed. Finally,several experiments were carried out under the condition of low speed and high speed. The experimental results validate that the model compensation and adaptive robust control algorithm are effective.
出处
《微特电机》
北大核心
2015年第12期55-58,共4页
Small & Special Electrical Machines
