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标题：基于BackStepping积分控制策略的含摩擦伺服系统研究 |
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作者：李鑫，国艳文，郑涛 |
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| 2017年第7期 访问次数：923次 |
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摘要：为了使含摩擦伺服系统能获得较好的控制精度与控制性能，提出了一种基于backstepping积分的控制策略。首先根据现实中的摩擦效应及以前学者的研究成果，选择相应的摩擦模型，并建立伺服系统数学模型；其次根据反步法推导含摩擦伺服系统的控制律，并通过控制器设计时构建系统的李雅普诺夫函数证明系统的稳定性。仿真结果验证了基于反步法设计控制器的控制效果，但是受摩擦参数变化等因素影响，控制系统存在稳态误差，考虑到PID控制系统中积分环节作用，提出了backstepping积分复合控制策略，通过引入积分环节，改进了反步控制器的设计方法，仿真验证该复合控制策略对消除系统稳态误差的有效性；最终验证了backstepping积分控制方法在电机同步控制中的应用效果。
关键词：伺服系统；摩擦；backstepping积分；电机同步
Abstract: In order to get better control precision and control performance, a control strategy based on backsteppingintegral was raised, Firstly, according to the friction effect in reality and the research results of former scholars, the corresponding friction model was selected and the mathematical model of servo system was established; Secondly, the control law of the friction servo system was derived according to the backstepping method, and the stability of the system was proved by the Lyapunov function of the system when the controller was designed. The simulation results verify the control effect of the controller based on the backstepping method. However, due to the influence of friction parameters and other factors,steady state error exists in control system, considering the integral function of the PID control system, the backsteppingintegral compound control strategy was proposed. By introducing the integral part, the design method of the backstepping controller was improved, simulation results show that the composite control strategy was effective to eliminate the steadystate error of the system; Finally, the application effect of backsteppingintegral control method in synchronous motor control was verified
Key words: servo system; friction; backsteppingIntegral; synchronous motor |
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