计算机工程与应用 ›› 2011, Vol. 47 ›› Issue (21): 227-230.

• 工程与应用 • 上一篇    下一篇

双电机驱动伺服系统的Backstepping自适应控制

赵海波1,周向红2   

  1. 1.铜陵学院 电气工程系 光电子研究中心,安徽 铜陵 244000
    2.中国电子科技集团公司 第四十三研究所,合肥 230088
  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2011-07-21 发布日期:2011-07-21

Backstepping adaptive control of dual-motor driving servo system

ZHAO Haibo1,ZHOU Xianghong2   

  1. 1.Photoelectron Research Center,Department of Electrical Engineering,Tongling University,Tongling,Anhui 244000,China
    2.No.43 Research Institute,China Electronics Technology Group Corporation,Hefei 230088,China
  • Received:1900-01-01 Revised:1900-01-01 Online:2011-07-21 Published:2011-07-21

摘要: 针对存在未知齿隙等非线性的双电机驱动伺服系统的控制问题,给出了双电机驱动伺服系统的模型,应用Backstepping方法,引入虚拟控制量的概念,通过逐步递推选择Lyapunov函数,设计了基于状态反馈的自适应控制器,进行了稳定性分析。仿真结果表明,所提出的控制策略不需要知道系统内部不确定性参数,控制系统具有良好的位置跟踪性能和较强的鲁棒性。

关键词: 齿隙非线性, Backstepping, 自适应控制, 双电机驱动

Abstract: Aiming at the control problem of the dual-motor driving servo system with unknown backlash,the model is given.By selecting Lyapunov function through Backstepping approach and introducing virtual control quantity,the adaptive controller based on state feedback is designed and its stability is analyzed.The result of simulation shows that it is not necessary to know the uncertainty of internal parameter,and the control system has good position tracking performance and strong robustness.

Key words: backlash nonlinearity, Backstepping, adaptive control, dual-motor driving