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针对一类具有未知输入齿隙、参数不确定以及未建模动态和干扰的非线性系统,设计了自适应鲁棒控制器.将齿隙非线性模型等价表示为具有有界建模误差的全局线性化模型,在此基础上设计了包含自适应模型补偿、反馈稳定和鲁棒反馈3部分的自适应鲁棒控制器,并给出了系统动态跟踪误差和稳态误差指标.理论分析证明,闭环控制系统信号有界且跟踪误差在任意期望的精度范围内,仿真研究验证了所提出方法的有效性. 相似文献
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针对具有未知参数和齿隙非线性的机电伺服系统,引入一种近似死区函数建立了系统的数学模型,给出了死区函数中参数的选取方法.用两个自适应模糊逻辑系统在线逼近机电伺服系统中的未知参数和非线性环节,从而避免了对每个未知参数推导自适应律.基于反步法设计了自适应模糊控制器,可抑制未知参数和齿隙非线性对系统性能的影响.采用Lyapunov方法证明了位置跟踪误差的指数收敛性.与PID控制方法对比的仿真实验表明,本文方法能够显著减小齿轮间传递力矩的振荡,并具有很好的控制精度和鲁棒性. 相似文献
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The themial transfer coefficient that represents the portion of energy heating the surrounding gas of fault arc is a key parameter in evaluating the pressure effects due to fault arcing in a closed electrical installation.This paper presents experimental research on the thermal transfer coefficient in a closed air vessel for Cu,Fe and A1 electrode materials over a currcni range from 1-20 kA with an electrode gap from 10-50 mm and gas pressure from 0.05-0.4 MPa.With a simplified energy balance including Joule heating,arc radiation,ihc energies related to electrode melting,vaporization and oxidation constructed,and the influences of different factors on thermal transfer coefficient are studied and evaluated.This quantitative estimation of the energy components confirmed that the pressure rise is closely related to the change in heat transport process of fault arc.particularly in consideration of the evaluation of Joule healing and radiation.Factors such as the electrode material,arc current,filling pressure and gap length between electrodes have a considerable effect on the thermal transfer coefficient and thus,the pressure rise due to the differences in the energy balance of fault arc. 相似文献