Fuzzy PID control for AC servo system based on Stribeck friction model

Jiazhong Xu, Ming Qiao, Wei Wang, Yanan Miao
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引用次数: 12

Abstract

Friction is the key factor influencing high precision and super low-speed running performance of AC servo system. In order to factually simulate the influence of friction on AC servo system, three-loop nonlinear model of industry AC servo motor including measured Stribeck friction disturbance factors is established. The control performance of position loop is simulated and studied by adopting traditional PID and fuzzy PID. The results show that Stribeck friction can lead to “flat top” of position tracking and “dead zone” of speed tracking adopting traditional PID, while fuzzy PID decreases the influence of friction on servo system performance and improves tracking precision and robust performance of the system.
基于Stribeck摩擦模型的交流伺服系统模糊PID控制
摩擦是影响交流伺服系统高精度、超低速运行性能的关键因素。为了真实地模拟摩擦对交流伺服系统的影响,建立了包含实测Stribeck摩擦干扰因子的工业交流伺服电机三环非线性模型。采用传统PID和模糊PID对位置环的控制性能进行了仿真研究。结果表明:采用传统PID时,Stribeck摩擦会导致位置跟踪出现“平顶”和速度跟踪出现“死区”,而模糊PID减小了摩擦对伺服系统性能的影响,提高了系统的跟踪精度和鲁棒性。
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