Backstepping adaptive control of dual-motor driving servo system

Computer Engineering and Applications ›› 2011, Vol. 47 ›› Issue (21): 227-230.

• 工程与应用 • Previous Articles Next Articles

Backstepping adaptive control of dual-motor driving servo system

ZHAO Haibo1，ZHOU Xianghong2

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

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.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

Abstract

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

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

ZHAO Haibo1，ZHOU Xianghong2. Backstepping adaptive control of dual-motor driving servo system[J]. Computer Engineering and Applications, 2011, 47(21): 227-230.

赵海波1，周向红2. 双电机驱动伺服系统的Backstepping自适应控制[J]. 计算机工程与应用, 2011, 47(21): 227-230.

[1]	CHEN Shiming, LIN Zipeng, GAO Yanli, PEI Huiqin. Heterogeneous Group Consensus Under Adaptive Coupling Weights [J]. Computer Engineering and Applications, 2021, 57(4): 231-235.
[2]	JIANG Yunbiao, GUO Chen, YU Haomiao. Robust Adaptive Attitude Control Algorithm for Autonomous Underwater Vehicle [J]. Computer Engineering and Applications, 2019, 55(17): 266-270.
[3]	DING Xiaodi, CUI Baotong. Adaptive control for mismatch Smith predictor with disturbance [J]. Computer Engineering and Applications, 2017, 53(6): 223-226.
[4]	ZENG Dewei, WU Yuxiang, WANG Cong. Research on simulation of neural network identification and learning for AUV depth control [J]. Computer Engineering and Applications, 2017, 53(6): 258-263.
[5]	HU Lingyao1，2，3, CHEN Jianping1，2，3, FU Qiming1，2，3，4, HU Wen1，2，3, NI Qingwen1，2，3. Building energy efficiency oriented reinforcement learning adaptive control method [J]. Computer Engineering and Applications, 2017, 53(21): 239-246.
[6]	ZHAO Rui, ZHU Meiling, XU Yong. Adaptive tracking control for multi-agent systems [J]. Computer Engineering and Applications, 2017, 53(18): 39-43.
[7]	YANG Zewen1，2, JIA Heming1, SONG Wenlong1, ZHU Chuanxu1, ZHOU Jiajia2, LI Yuan1. Horizontal trajectory tracking control of AUV based on high gain observer [J]. Computer Engineering and Applications, 2017, 53(11): 26-30.
[8]	CHENG Yujuan, YU Hui. Adaptive group consensus of multi-agent in switching networks [J]. Computer Engineering and Applications, 2017, 53(11): 50-55.
[9]	FAN Min, YU Hai, SHI Weiren, HUANG Jie. Model reference adaptive control balance algorithm for two-wheeled self-balancing vehicle [J]. Computer Engineering and Applications, 2016, 52(9): 258-262.
[10]	LEI Ting, ZHANG Guoliang, TANG Wenjun, SUN Yijie. Neural network adaptive control of uncertain free-floating space robot [J]. Computer Engineering and Applications, 2016, 52(8): 29-32.
[11]	YAN Zheping1, DU Pengjie1, HOU Shuping2, ZHAO Jicheng1. Study on Multi-UUV formation coordination control for moving-target hunting [J]. Computer Engineering and Applications, 2015, 51(9): 46-51.
[12]	YANG Jianfeng, ZHANG Cui, ZHANG Feng. Trajectory tracking control of robot manipulator—model reference adaptive control for robot manipulator based on EC-RBF neural networks [J]. Computer Engineering and Applications, 2015, 51(9): 82-86.
[13]	ZHAO Haibo1，2, WANG Mingming3. Control study of dual-motors driving servo system with backlash nonlinearity based on backstepping integral adaptive strategy [J]. Computer Engineering and Applications, 2015, 51(2): 39-45.
[14]	LI Yandong, ZHU Ling, SUN Ming. Adaptive control of mobile robot formations including actuator dynamics [J]. Computer Engineering and Applications, 2014, 50(1): 235-239.
[15]	LI Shurong1, MA Huichao1, JIAO Deyu2. Robust tracking control for mobile robots using backstepping [J]. Computer Engineering and Applications, 2013, 49(8): 266-270.

Backstepping adaptive control of dual-motor driving servo system

双电机驱动伺服系统的Backstepping自适应控制

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics