| 直流力矩电机低速自适应跟踪控制 |
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| 引用本文： | 陈涛,陈娟,陈长青. 直流力矩电机低速自适应跟踪控制[J]. 光电工程, 2003, 30(3): 31-34 |
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| 作者姓名： | 陈涛 陈娟 陈长青 |
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| 作者单位： | 1. 中国科学院长春光学精密机械与物理研究所光电工程部,吉林,长春130022
2. 中国科学院长春光学精密机械与物理研究所光电工程部,吉林,长春130022;长春工业大学电气与电子学院,吉林,长春,130012 |
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| 基金项目： | 中国科学院国防预研项目 |
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| 摘 要： | 由模型参考自适应控制原理,采用李雅普诺夫函数稳定性分析方法,分别给出了基于Stribeck非线性摩擦模型和库仑摩擦模型的低速补偿自适应控制律,并进行了低速性能实验对比研究。结果为：系统基于Stribeck模型和库仑模型的最低平稳速度分别为θmin＝0．00234／s和θmin＝0．0024／s;此时误差峰—峰值分别为0．463″和0．695″。显然前者的低速补偿效果更好。
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| 关 键 词： | 自适应控制 跟踪控制 力矩电机 摩擦模型 |
| 文章编号： | 1003-501X(2003)03-0031-04 |
| 收稿时间： | 2002-03-22 |
| 修稿时间： | 2002-03-22 |
Adaptive Tracking Control of DC Torque Motor in Low Speed |
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| CHEN Tao,CHEN Juan,,CHEN Chang-qing. Adaptive Tracking Control of DC Torque Motor in Low Speed[J]. Opto-Electronic Engineering, 2003, 30(3): 31-34 |
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| Authors: | CHEN Tao CHEN Juan CHEN Chang-qing |
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| Affiliation: | CHEN Tao1,CHEN Juan1,2,CHEN Chang-qing1 |
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| Abstract: | Referring to the basic principle of adaptive control from the model and using Lyapunov function stability analysis, low-speed compensation adaptive control laws based on Stribeck nonlinear friction model and Colombo friction model are given , respectively, and experimental contrast research for low speed performance is carried out. The experimental results are: the lowest stable speeds based on stribeck nonlinear friction model and Colombo friction model are s2340min/.=q&and =minq&0.0024/s respectively. At this time error peak-peak are 0.463" and 0.695", respectively. The low speed compen- sation effect of the former is obviously better than the latter. |
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| Keywords: | Adaptive control Tracking control Torque motor Friction model |
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