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针对摩擦非线性的存在会使伺服系统控制精度难以提高的问题,建立了考虑动态LuGre摩擦的伺服系统数学模型,在系统参数和负载转矩未知的情况下设计了自适应模糊控制器,用自适应模糊逻辑系统在线逼近包含LuGre摩擦在内的非线性环节,从而实现了伺服系统商精度的位置跟踪.利用Lyapunov函数证明了闭环系统的稳定性.仿真结果表明,该控制器能有效地补偿摩擦非线性的影响,并对负载转矩变化具有较强的鲁棒性.
Aiming at the problem that the existence of frictional nonlinearity can make the control precision of servo system difficult to be improved, a mathematical model of servo system considering dynamic LuGre friction is established. An adaptive fuzzy controller is designed under the condition of system parameters and unknown load torque. The adaptive fuzzy logic system approximates the non-linear link including LuGre friction on-line to realize the position tracking of the servo system’s commercial accuracy. The stability of closed-loop system is proved by Lyapunov function. The simulation results show that the controller can effectively compensate the friction Nonlinear effects, and load torque changes with strong robustness.