| 伺服系统摩擦的支持向量回归建模与反步控制 |
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| 引用本文： | 周金柱,段宝岩,黄进,刁玖胜. 伺服系统摩擦的支持向量回归建模与反步控制[J]. 控制理论与应用, 2009, 26(12): 1405-1409 |
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| 作者姓名： | 周金柱 段宝岩 黄进 刁玖胜 |
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| 作者单位： | 西安电子科技大学,电子装备结构教育部重点实验室,陕西,西安,710071;西安电子科技大学,电子装备结构教育部重点实验室,陕西,西安,710071;西安电子科技大学,电子装备结构教育部重点实验室,陕西,西安,710071;西安电子科技大学,电子装备结构教育部重点实验室,陕西,西安,710071 |
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| 基金项目： | 国家"973"基础研究资助项目，国家自然科学基金资助项目 |
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| 摘 要： | 研究了一种伺服系统摩擦建模和控制的新方法.首先,根据实验数据,提出了基于支持向量机回归的自适应库仑摩擦和固定库仑摩擦建模方法,以解决在速度为零时摩擦力矩不连续导致的建模不准确问题.然后应用所建立的摩擦模型,使用反步法设计了控制器从而实现了摩擦的自适应补偿.通过使用Lyapunov理论证明了闭环系统的稳定性.仿真结果验证了该方法的有效性.
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| 关 键 词： | 支持向量回归 反步法 摩擦 伺服系统 |
| 收稿时间： | 2008-06-25 |
| 修稿时间： | 2009-04-03 |
Support vector regression modeling and backstepping control of friction in servo system |
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| ZHOU Jin-zhu,DUAN Bao-yan,HUANG Jin and DIAO Jiu-sheng. Support vector regression modeling and backstepping control of friction in servo system[J]. Control Theory & Applications, 2009, 26(12): 1405-1409 |
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| Authors: | ZHOU Jin-zhu DUAN Bao-yan HUANG Jin DIAO Jiu-sheng |
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| Affiliation: | Key Laboratory of Electronic Equipment Structure of Ministry of Education, Xidian University,Key Laboratory of Electronic Equipment Structure of Ministry of Education, Xidian University,Key Laboratory of Electronic Equipment Structure of Ministry of Education, Xidian University,Key Laboratory of Electronic Equipment Structure of Ministry of Education, Xidian University |
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| Abstract: | A new approach to modeling and control for friction in servo system is studied. By using the support vector regression, we build the model of adaptive Coulomb friction and the model of the fixed Coulomb friction fromthe experimental data. This solves the inaccurate modeling problem caused by the discontinuity of friction torque at zero velocity. The developed friction models are employed in the design of the backstepping control law for adaptively compensating the friction in servo system. The stability of the closed-loop system is proved by using the Lyapunov theory. The simulation results show the effectiveness of the proposed approach. |
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| Keywords: | support vector regression backstepping friction servo system |
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