基于双跟踪微分器的机械共振系统非线性控制设计

Pu Huang, W. Ge, Jun Li, J. Xiu, Youyi Li, Li Chen
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引用次数: 2

摘要

提出了一种具有机械共振运动系统的非线性控制策略。根据实际系统的参数,建立了伺服系统的数学模型。利用两个跟踪微分器对参考输入和系统输出进行跟踪,并同时给出它们的差分信号。设计了一种基于非光滑反馈的速度环非线性PD控制律。仿真结果表明,该控制律的性能明显优于线性PD控制律和经典PID控制律。跟踪微分器解决了系统响应的快速性和超调性之间的矛盾。非线性PD控制律改善了系统的动态性能,增强了抗扰能力。本文所实现的控制设计使伺服系统具有更强的鲁棒性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Nonlinear control design for system with mechanical resonance based on two Tracking-Differentiators
A nonlinear control strategy for controlling a motion system with mechanical resonance is presented in this paper. A mathematical model of the servo system is derived according to the parameters of an actual system. By using two Tracking-Differentiators, reference input and system output are tracked and their differential signals are given simultaneously. A nonlinear PD control law in velocity loop is designed based on non-smooth feedback. The simulation results show that the control law is superior remarkably in performance to linear PD control law and the classical PID control law. Tracking-Differentiator resolves the contradiction between rapidity and overshoot of system response. The nonlinear PD control law improves system dynamic performance and intensifies the ability of disturbance rejection. The control design achieved in this paper makes the servo system more robust.
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