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提出一种基于自适应鲁棒控制的交叉耦合同步控制策略,通过实时估计系统的参数来提高伺服系统的瞬态响应,并在扭绳驱动器参数摄动的上下界已知的情况下,采用标准投影参数机制来调节控制增益的大小,同时融入鲁棒控制器来抑制系统中的非线性因素和不确定性,从而确保系统的鲁棒性。实验结果表明,与基于LQR的线性控制相比较,具有较高的目标轨迹跟踪精度与较小的同步误差,且系统具有较强的抗扰性。
A cross-coupled synchronous control strategy based on adaptive robust control is proposed to improve the transient response of the servo system by estimating the parameters of the system in real time. With the upper and lower bounds of perturbation of the torsion rope driver known, Projection parameter mechanism to adjust the size of the control gain, while incorporating robust controllers to suppress the nonlinear factors and uncertainties in the system to ensure the robustness of the system. The experimental results show that compared with the linear control based on LQR, the proposed system has higher tracking accuracy and smaller synchronization error, and the system has stronger immunity.