摘要: 超声波电机有着明显的非线性特征,采用自适应控制方法可以得到较好的控制性能。但是,过于复杂的控制算法,会限制其工业化应用。本文给出一种简单的模型参考自适应控制方法,在线计算量小,不需模型参数的在线辨识。实验表明了所提方法的有效性。
关键词:超声波电机;转速控制;模型参考自适应;Lyapunov稳定性
Abstract: Ultrasonic motor has obvious nonlinear characteristics, using the adaptive control strategies can get good control performance. However, the industrial application of ultrasonic motor may be limited by the complexity of the control strategy. This paper presented a simple model reference adaptive control strategy. This strategy has a small amount of online calculation and does not need the online identification of the model parameters. Experimental results show the effectiveness of the proposed control strategy.
Key words: ultrasonic motor; speed control; model reference adaptive control;Lyapunov stability
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