摘要
针对机电伺服系统中存在的不确定因素和多余力扰动问题,提出一种自适应比例-积分-微分(PID)控制策略。该自适应控制器由最优PID控制器和小脑模型关节控制器(CMAC)组成,最优PID控制器用来整定系统的标称模型,CMAC控制器用来克服系统中含有的不确定项和多余力扰动,自适应PID控制器能确保系统跟踪误差和CMAC权值误差收敛到零。仿真结果表明,本文提出的控制器具有令人满意的跟踪性能,对系统中的不确定因素和多余力扰动具有一定的鲁棒性。
A robust controller is proposed for mechanical and electrical servo system with unknown uncertainties and external load disturbances. This adaptive controller is made up of an ProportionIntegration-Differentiation(PID) controller and a Cerebellar Model Articulation Controller(CMAC). The PID controller is designed to stabilize the nominal model of the servo system, and the CMAC controller is designed to compensate for the system unknown uncertainties and external load disturbances. Simulation results demonstrate that the proposed controller has favorable tracking performance, and reasonable robustness for the uncertainties and external disturbances of the servo system.
出处
《太赫兹科学与电子信息学报》
2016年第1期117-121,共5页
Journal of Terahertz Science and Electronic Information Technology
关键词
比例-积分-微分控制器
小脑模型关节控制器
鲁棒控制
Proportion-Integration-Differentiation controller
Cerebellar Model Articulation Controller
robust control
