|本期目录/Table of Contents|

[1]杜仁慧,陶春荣,张伟,等.伺服系统机械谐振抑制的自适应模糊控制方法[J].电机与控制学报,2017,21(10):116-122.[doi:10.15938/j.emc.2017.10.016]
 DU en-hui,TAO Chun-rong,ZHANG Wei,et al.Adaptive fuzzy control method for mechanical resonance suppression of servo systems[J].,2017,21(10):116-122.[doi:10.15938/j.emc.2017.10.016]
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伺服系统机械谐振抑制的自适应模糊控制方法()
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
21
期数:
2017年10
页码:
116-122
栏目:
出版日期:
2017-10-01

文章信息/Info

Title:
Adaptive fuzzy control method for mechanical resonance suppression of servo systems
作者:
?杜仁慧 陶春荣 张伟 张杰 孙晋先
?(中国船舶重工集团公司 第七二四研究所,江苏 南京 211153)
Author(s):
?DU Ren-hui TAO Chun-rong ZHANG Wei ZHANG Jie SUN Jin-xian
?(724 Research Institute,China Shipbuilding Industry Corporation,Nanjing 211153,China)
关键词:
伺服系统 机械谐振 反步法 自适应模糊控制 李雅普诺夫函数
Keywords:
servo system mechanical resonance backstepping method adaptive fuzzy control Lyapunov function
分类号:
TP 13
DOI:
10.15938/j.emc.2017.10.016
文献标志码:
A
摘要:
?针对伺服系统中普遍存在的机械谐振问题,建立了系统的状态方程模型。将与机械谐振密切相关的系统参数设为不确定变量,采用自适应模糊逻辑系统在线估计包含这些参数的非线性环节,并基于反步法设计了自适应模糊控制器,有效地抑制了伺服系统中机械谐振的影响。采用李雅普诺夫方法证明了伺服系统位置跟踪误差的指数收敛性。仿真实验表明本方法具有很好的自适应性能,能够减小系统传递力矩的振荡,显著提高伺服跟踪的精确度和动态性能。
Abstract:
?The state equation model is established to solve the mechanical resonance problem which widely exists in servo systems. The system parameters which are closely related to the mechanical resonance were considered uncertain,and the adaptive fuzzy logic systems were used to approximate the nonlinear parts which contained the uncertain parameters online. An adaptive fuzzy controller based on backstepping method was developed to inhibit the influence of mechanical resonance effectively. It was ensured theoretically by Lyapunov function that the position tracking error was converged exponentially. Simulations show that the backstepping adaptive fuzzy controller not only has good adaptability,but also can reduce the transmitting torque oscillation and enhance the tracking precision and dynamic performance significantly

参考文献/References:

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备注/Memo

备注/Memo:
?收稿日期: 2015 - 03 - 25
?基金项目: 国家自然科学基金( 61673214,61673217)
作者简介: 杜仁慧( 1985—) ,男,博士,高级工程师,研究方向为伺服系统高精度控制、智能控制; 陶春荣( 1980—) ,男,高级工程师,研究方向为伺服系统高精度控制、智能控制; 张 伟( 1981—) ,男,高级工程师,研究方向为伺服系统高精度控制、智能控制; 张 杰( 1982—) ,男,高级工程师,研究方向为伺服系统高精度控制、智能控制; 孙晋先( 1983—) ,女,高级工程师,研究方向为伺服系统高精度控制、智能控制。
更新日期/Last Update: 2018-02-06