首页 | 本学科首页   官方微博 | 高级检索  
     

含间隙非线性的Wiener-Hammerstein系统复合补偿控制
引用本文:李冬伍,任雪梅,吕晓华. 含间隙非线性的Wiener-Hammerstein系统复合补偿控制[J]. 控制理论与应用, 2016, 33(1): 54-61
作者姓名:李冬伍  任雪梅  吕晓华
作者单位:北京理工大学,北京理工大学,北京理工大学
基金项目:国家自然科学基金项目(61433003, 61273150, 61321002), 高等学校博士学科点专项科研基金项目(20121101110029)资助.
摘    要:针对含非对称间隙环节的Wiener-Hammerstein系统提出了一种新的由输出反馈和间隙动态逆补偿构成的复合控制方案.首先应用参数化分段线性表达式设计了未知参数的整体估计模型,可同时估计线性参数和间隙的特征参数,然后提出了一种新的误差有界的间隙动态逆模型,该模型可使得驱动信号能在间隙的不同线性段之间快速切换,在此基础上设计了鲁棒补偿控制律,同时对输入线性环节采用输出反馈控制构建了复合控制器,通过李亚普诺夫方法证明了闭环系统的稳定性.带减速器的单电机伺服系统模型的仿真结果表明该方法在跟踪精度良好的同时可使系统动态响应满足要求.

关 键 词:Wiener-Hammerstein系统   间隙   复合补偿控制
收稿时间:2014-09-09
修稿时间:2015-08-26

Combined compensation control for Wiener-Hammerstein systems with backlash nonlinearities
LI Dong-wu,REN Xue-mei and LV Xiao-hua. Combined compensation control for Wiener-Hammerstein systems with backlash nonlinearities[J]. Control Theory & Applications, 2016, 33(1): 54-61
Authors:LI Dong-wu  REN Xue-mei  LV Xiao-hua
Affiliation:School of Automation,Beijing Institute of Technology,School of Automation,Beijing Institute of Technology,School of Automation,Beijing Institute of Technology
Abstract:For Wiener-Hammerstein systems with asymmetric backlash nonlinearities, we propose a novel combinedcompensation control consisting of the output feedback and a dynamic inverse compensation for backlash. The piecewiselinear parametric representation is first utilized to simultaneously estimate the characteristic parameters of the asymmetricbacklash and the unknown coefficients in the linear transfer function. Then, we build a new error-bounded dynamic inversemodel for the backlash; this model makes it possible for the driving signal to be quickly switched between different linesegments of the backlash. On this basis, we develop the robust compensation law. Meanwhile, by using output feedback,we build a compound controller for the input linear loop. The stability of the closed-loop is proved by means of Lyapunovmethod. Simulation is carried out on a single-motor servo system with speed reducer. Results show that the proposedmethod provides not only excellent tracking accuracies, but also the desirable dynamic response as well.
Keywords:Wiener-Hammerstein systems   backlash   combined compensation control
本文献已被 CNKI 万方数据 等数据库收录!
点击此处可从《控制理论与应用》浏览原始摘要信息
点击此处可从《控制理论与应用》下载全文
设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司  京ICP备09084417号