输入受限时电机伺服系统渐近跟踪控制

doi:10.3969/j.issn.1000-1093.2015.08.005

兵工学报 ›› 2015, Vol. 36 ›› Issue (8): 1405-1410.doi: 10.3969/j.issn.1000-1093.2015.08.005

输入受限时电机伺服系统渐近跟踪控制

董振乐, 姚建勇, 马大为

(南京理工大学机械工程学院, 江苏南京 210094)

收稿日期:2014-10-11 修回日期:2014-10-11 上线日期:2015-10-16
作者简介:董振乐（1988—），男，博士研究生
基金资助:
国家自然科学基金项目(51305203)；江苏省自然科学基金项目(BK20141402)；江苏省普通高校研究生科研创新计划项目(KYLX_0397)

Asymptotic Tracking Control of Motor Servo System with Input Constraint

DONG Zhen-le, YAO Jian-yong, MA Da-wei

(School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, Jiangsu, China)

Received:2014-10-11 Revised:2014-10-11 Online:2015-10-16

摘要/Abstract

摘要： 参数不确定性、不确定非线性（特别是非线性摩擦）以及输入受限等非线性问题在电机伺服系统中广泛存在，针对以上诸多问题，建立了包含连续可微摩擦模型的系统数学模型，提出了一种基于误差符号积分鲁棒控制器的新型控制方法。该方法能实现在输入受限时和外干扰作用下的渐近跟踪。采用Lyapunov函数从理论上证明控制器的渐近稳定性。仿真对比结果表明，该控制方法在输入受限时展现了优良的跟踪精度和响应速度，且具有较强的鲁棒性。

关键词: 控制科学与技术, 电机伺服系统, 误差符号积分鲁棒, 输入受限, 渐近跟踪, 建模不确定性, 连续摩擦补偿

Abstract: Parameter uncertainties, uncertain nonlinearities (especially the nonlinear frictions) and input constraint are the common problems existing in motor servo systems. For the above problems, a new method, based on the robust integral of the sign of error (RISE) design, is proposed to achieve the asymptotic tracking performance in the presence of parameter uncertainties, uncertain nonlinearities and input constraint. The stability of asymptotic tracking is proved via the Lyapunov analysis. Simulation results illustrate that the proposed approach can be used to achieve the excellent response speed and tracking performance under input constraint, and has a strong robustness.

Key words: control science and technology, motor servo system, robust integral of the sign of error, input constraint, asymptotic tracking, modeling uncertainty, continuous friction compensation

中图分类号:

TJ393

董振乐, 姚建勇, 马大为. 输入受限时电机伺服系统渐近跟踪控制[J]. 兵工学报, 2015, 36(8): 1405-1410.

DONG Zhen-le, YAO Jian-yong, MA Da-wei. Asymptotic Tracking Control of Motor Servo System with Input Constraint[J]. Acta Armamentarii, 2015, 36(8): 1405-1410.

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输入受限时电机伺服系统渐近跟踪控制

Asymptotic Tracking Control of Motor Servo System with Input Constraint

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