针对永磁直线同步电动机(permanent magnet linear synchronous motor,PMLSM)驱动的数控机床易受参数变化、负载扰动以及摩擦力等不确定性影响的问题,提出一种基于质量辨识扰动观测器(disturbance observer with mass identification,DO...针对永磁直线同步电动机(permanent magnet linear synchronous motor,PMLSM)驱动的数控机床易受参数变化、负载扰动以及摩擦力等不确定性影响的问题,提出一种基于质量辨识扰动观测器(disturbance observer with mass identification,DOB-MI)的自适应反推互补滑模控制(adaptive backstepping complementary sliding mode control,ABCSMC)策略。设计ABCSMC方法抑制不确定对系统的影响。通过引入自适应律,ABCSMC的边界层能够实现动态变化,保证系统具有全局鲁棒性,且ABCSMC可对不确定性在线估计并调整,从而提高位置跟踪精度。由于在实际应用中,负载质量变化会对系统性能造成极大的影响,因此,利用离散模型参考自适应辨识理论,设计DOB-MI辨识动子质量并计算出补偿电流以补偿负载扰动对系统的影响。仿真与实验结果表明,该方法提高了系统的位置跟踪精度,对参数变化和负载扰动等不确定性具有极强的抑制能力。展开更多
The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturban...The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.展开更多
文摘针对永磁直线同步电动机(permanent magnet linear synchronous motor,PMLSM)驱动的数控机床易受参数变化、负载扰动以及摩擦力等不确定性影响的问题,提出一种基于质量辨识扰动观测器(disturbance observer with mass identification,DOB-MI)的自适应反推互补滑模控制(adaptive backstepping complementary sliding mode control,ABCSMC)策略。设计ABCSMC方法抑制不确定对系统的影响。通过引入自适应律,ABCSMC的边界层能够实现动态变化,保证系统具有全局鲁棒性,且ABCSMC可对不确定性在线估计并调整,从而提高位置跟踪精度。由于在实际应用中,负载质量变化会对系统性能造成极大的影响,因此,利用离散模型参考自适应辨识理论,设计DOB-MI辨识动子质量并计算出补偿电流以补偿负载扰动对系统的影响。仿真与实验结果表明,该方法提高了系统的位置跟踪精度,对参数变化和负载扰动等不确定性具有极强的抑制能力。
基金Project(51409061)supported by the National Natural Science Foundation of ChinaProject(2013M540271)supported by China Postdoctoral Science Foundation+1 种基金Project(LBH-Z13055)Supported by Heilongjiang Postdoctoral Financial Assistance,ChinaProject(HEUCFD1403)supported by Basic Research Foundation of Central Universities,China
文摘The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.
