共查询到20条相似文献，搜索用时 46 毫秒
1.
针对直线电机系统中各类建模不确定性以及速度、推力和加加速度约束综合影响下的最短时间动态响应和高精度稳态跟踪问题,提出了一种融合时间最优轨迹优化和非线性自适应鲁棒控制的双环控制框架。其中,外环时间最优轨迹优化主要处理系统速度、加加速度以及在线更新的前馈补偿约束,从而间接保证了最短时间的动态响应;内环非线性自适应鲁棒控制算法用来抑制各类建模不确定性的影响,旨在保证高精度的稳态跟踪性能。仿真结果验证了所提双环控制算法的有效性和优越性。 相似文献
2.
对永磁直线电动机伺服系统提出非线性自适应鲁棒控制器的优化设计方法。在永磁直线伺服系统非线性数学模型的基础上,为实现对速度和电流的准确跟踪,建立了误差系统的动态模型。将跟踪和干扰抑制归结为非线性自适应鲁棒控制器设计问题,通过构造存储函数得到自适应鲁棒控制器的定理,以及电阻和电感的辨识算法。证明定理给出的控制器能满足干扰抑制和系统的渐近稳定。最后,用遗传算法对控制器的参数进行优化。仿真结果表明,用该方法设计的系统能很好的抑制扰动和跟踪给定,满足对高性能数控机床永磁直线伺服系统控制的要求. 相似文献
3.
对永磁直线电动机伺服系统提出了非线性自适应鲁棒控制器的优化设计方法.在系统非线性数学模型的基础上,建立了误差系统的动态模型.将跟踪和干扰抑制归结为非线性自适应鲁棒控制器的设计问题,通过构造存储函数得到自适应鲁棒控制器的定理,以及电阻和电感的辨识算法.证明了定理给出的控制器能满足干扰抑制和系统渐近稳定,并用遗传算法对控制器的参数进行优化.仿真结果验证了该方法是有效的. 相似文献
4.
针对高速高精芯片封装平台的交流永磁直线同步电机驱动系统,阐述直线电机运行的基本机理,并建立简洁实用的数学驱动模型。在芯片封装平台高性能速度控制系统的要求下,通过抑制速度扰动的DOB和ARC控制器设计,利用Matab／Simulink模块明确比较了各自的不同性能,提出在不同的工作环境下,对基本速度控制器和干扰抑制器的选择。 相似文献
5.
针对考虑边端效应的直线感应电机精确位置跟踪问题,设计一种基于间接矢量控制的投影自适应指令滤波反推控制器.首先,给出间接矢量控制下考虑边端效应的直线感应电机模型;其次,运用反推法设计控制器,同时采用限幅的指令滤波器处理反推法中计算膨胀和控制器饱和问题,并对指令滤波器产生的滤波误差设计补偿信号;然后,基于李雅普诺夫稳定性理论设计自适应律,估计直线感应电机控制系统中的不确定参数(移动物件的总质量、粘滞系数、外部的负载扰动),并引入投影算子保证估计值的有界性;最后,将所设计的控制器分别与传统PID控制器、指令滤波反推控制器对比.仿真结果表明,所设计的控制器具有更强的动态性能、抗干扰性及鲁棒性. 相似文献
6.
永磁直线同步伺服系统采用直接驱动方式，可构成大行程、高精度、高速度的高性能伺服系统，针对其变速机械易受参数，负载等扰动的影响，提出一种基于扰动观测器的鲁棒控制方法，利用观测器预测估算出参数的变化和负荷的波动等各种噪声，并产生前馈偿信号输入系统。实验结果表明，该方法能有效地抑制各种扰动影响。 相似文献
7.
本文根据内模原理 [1]提出了三种新的自适应鲁棒控制器,克服了Song等人 [2]提出的鲁棒控制器的缺点．本文提出的算法适用于跟踪任何参考信号,当系统的阶次发生变化时均能跟踪与调节,具有较强的鲁棒性． 相似文献
9.
为了提高永磁同步直线电机(PMSLM)定位力计算模型的训练效率和精度,提出一种基于自适应深度神经网络(ADNN)的定位力计算模型。利用有限元参数化计算出不同结构PMSLM的定位力作为样本数据;使用一种k折训练方式结合神经网络结构搜索算法使ADNN模型结构自适应,再对ADNN模型训练得到定位力计算模型。实验结果表明,该ADNN模型精度达到99.86%;相较于人工调参,时间消耗减少85.17%;ADNN模型计算结果与样机测试结果总体一致,证明了此模型的有效性。 相似文献
10.
针对永磁同步直线电机参数的非线性引起的波动力以及滑模控制中的抖振问题,设计了一种基于新型滑模控制策略的电流环控制器.该方法利用积分滑模面消除静差,并且采用新型"趋近律加滤波器"的方法解决了传统滑模控制的抖振与趋近速度相矛盾的问题.详细分析了波动力产生的原因,然后介绍了新型的滑模控制策略加滤波器,验证了控制器的稳定性.仿真结果验证了设计方法的有效性. 相似文献
11.
Hydraulic manipulators are usually applied in heavy-load and harsh operation tasks. However, when faced with a complex operation, the traditional proportional-integral-derivative (PID) control may not meet requirements for high control performance. Model-based full-state-feedback control is an effective alternative, but the states of a hydraulic manipulator are not always available and reliable in practical applications, particularly the joint angular velocity measurement. Considering that it is not suitable to obtain the velocity signal directly from differentiating of position measurement, the low-pass filtering is commonly used, but it will definitely restrict the closed-loop bandwidth of the whole system. To avoid this problem and realize better control performance, this paper proposes a novel observer-based adaptive robust controller (obARC) for a multi-joint hydraulic manipulator subjected to both parametric uncertainties and the lack of accurate velocity measurement. Specifically, a nonlinear adaptive observer is first designed to handle the lack of velocity measurement with the consideration of parametric uncertainties. Then, the adaptive robust control is developed to compensate for the dynamic uncertainties, and the close-loop system robust stability is theoretically proved under the observation and control errors. Finally, comparative experiments are carried out to show that the designed controller can achieve a performance improvement over the traditional methods, specifically yielding better control accuracy owing to the closed-loop bandwidth breakthrough, which is limited by low-pass filtering in full-state-feedback control. 相似文献
12.
针对永磁同步电机(PMSM)电流环非理想反电势的抑制问题,本文提出一种基于鲁棒最小二乘(RRLS)自适应律的间接自适应鲁棒控制(IARC)方法.该控制方法基于自适应鲁棒控制(ARC)理论,根据电机状态方程构造最小二乘型自适应律,加入修正因子增强自适应律对系统中扰动的鲁棒性.本文理论证明了该方法的稳定性.通过建立含有非理想反电势的电机模型,设计IARC电流控制器,并分析说明IARC具有比直接ARC更好的输出跟踪性能和扰动抑制能力.最后,通过仿真和实验验证了该方法的有效性. 相似文献
13.
This paper aims to develop a robust decomposed system control (RDSC) strategy under input constraints for an electro-mechanical linear actuator (EMLA) facing model uncertainty and external disturbances. At first, a state-space model of a complex multi-stage gearbox EMLA system, driven by a permanent magnet synchronous motor (PMSM), is developed, and the non-ideal characteristics of the ball screw are presented through the model. The result is a four-order nonlinear strict-feedback form (NSFF) system decomposed into three subsystems. As the paper's main result, a novel RDSC strategy with uniform exponential stability for controlling subsystem states is presented. This developed controller avoids the \"explosion of complexity\" problem associated with backstepping by treating the time derivative of the virtual control input as an uncertain system term. The proposed method, despite assuming load disturbances and input constraints with arbitrary bounds, offers a straightforward control approach for a broader range of applications. Further, the controller's performance is evaluated by simulating two distinct duty cycles, each representing different levels of demand on the actuator facing load disturbances near the rated motor performance. 相似文献
14.
Resuscitation of emergency care patients requires fast restoration of blood pressure to a target value to achieve hemodynamic stability and vital organ perfusion. A robust control design methodology is presented in this paper for regulating the blood pressure of hypotensive patients by means of the closed-loop administration of vasoactive drugs. To this end, a dynamic first-order delay model is utilised to describe the vasoactive drug response with varying parameters that represent intra-patient and inter-patient variability. The proposed framework consists of two components: first, an online model parameter estimation is carried out using a multiple-model extended Kalman-filter. Second, the estimated model parameters are used for continuously scheduling a robust linear parameter-varying (LPV) controller. The closed-loop behaviour is characterised by parameter-varying dynamic weights designed to regulate the mean arterial pressure to a target value. Experimental data of blood pressure response of anesthetised pigs to phenylephrine injection are used for validating the LPV blood pressure models. Simulation studies are provided to validate the online model estimation and the LPV blood pressure control using phenylephrine drug injection models representing patients showing sensitive, nominal and insensitive response to the drug. 相似文献
15.
This paper studies the precision motion trajectory tracking control of a pneumatic cylinder driven by a proportional-directional control valve. An integrated direct/indirect adaptive robust controller is proposed. The controller employs a physical model based indirect-type parameter estimation to obtain reliable estimates of unknown model parameters, and utilises a robust control method with dynamic compensation type fast adaptation to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. Due to the use of projection mapping, the robust control law and the parameter adaption algorithm can be designed separately. Since the system model uncertainties are unmatched, the recursive backstepping technology is adopted to design the robust control law. Extensive comparative experimental results are presented to illustrate the effectiveness of the proposed controller and its performance robustness to parameter variations and sudden disturbances. 相似文献
16.
对于本体姿态受控而位置不受控的空间机械臂系统,考虑存在参数不确定性及非参数不确定性,首先建立了系统的估计模型,并且提出了一种鲁棒复合自适应控制方法,其参数适应律由估计误差和跟踪误差共同决定.证明了这种方法不仅可维持系统的全局渐近稳定,而且还可快速收敛和减小跟踪误差. 相似文献
17.
In this article, a robust adaptive self-structuring fuzzy control (RASFC) scheme for the uncertain or ill-defined nonlinear, nonaffine systems is proposed. The RASFC scheme is composed of a robust adaptive controller and a self-structuring fuzzy controller. In the self-structuring fuzzy controller design, a novel self-structuring fuzzy system (SFS) is used to approximate the unknown plant nonlinearity, and the SFS can automatically grow and prune fuzzy rules to realise a compact fuzzy rule base. The robust adaptive controller is designed to achieve an L 2 tracking performance to stabilise the closed-loop system. This L 2 tracking performance can provide a clear expression of tracking error in terms of the sum of lumped uncertainty and external disturbance, which has not been shown in previous works. Finally, five examples are presented to show that the proposed RASFC scheme can achieve favourable tracking performance, yet heavy computational burden is relieved. 相似文献
18.
We consider linear stochastic systems with additive white Gaussian noise, with the added generality that the system matrices are random and adapted to the observation process. The main result of this paper is that in order for the standard Kalman filter to generate the conditional mean and conditional covariance of the conditionally Gaussian distributed state, it is sufficient for the random matrices to be finite with probability one at each time instant. This generalizes the best previous results available to date, to our knowledge, which require the more stringent hypothesis that the entries of the random matrices should possess finite second moments at each time instant. A significant application of the results of this paper is to the problem of recursive identification of the unknown parameters of a controlled linear stochastic system. In such problems, the observation matrix is typically generated by complicated nonlinear feedback, as for example in adaptive control, and the finiteness of the second moments is difficult, if not impossible, to establish, while the finiteness with probability one has been established in many applications. 相似文献
19.
本文把线性和非线性系统统一处理。从自适应控制算法与参数估计算法的对偶性出发,提出了自适应控制算法的一种统一格式。这种格式算法简单,并在一定的条件下,能使控制误差一致的足够小。 相似文献
20.
针对现代制造业对高精度机床伺服系统的要求, 将数据驱动的无模型自适应控制方法应用到直线伺服系统的位置控制中, 控制器设计不包括直线伺服系统结构的任何信息, 是直接基于动态线性化模型中伪偏导数的估计和预报, 而伪偏导数是根据直线电机电压输入和位置输出在线估计的. 永磁同步直线电机运动控制系统的实时实验结果表明, 在相同条件下, 数据驱动的无模型自适应控制方法的位置跟踪误差比PID减小了0.4mm到2.6 mm, 比神经网络控制时减小了0.2mm到0.5 mm. 该方法还提高了对负载扰动的鲁棒性. 相似文献
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