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针对影响运动控制性能的因素 ,设计了一种新型的高精度鲁棒运动控制器。该控制器建立在一种新型摩擦模型基础上 ,对摩擦状态进行估计和补偿。提出了时间延迟控制估计扰动的补偿方案 ,并对此方案进行了分析和实验研究。实验结果表明 ,所提出的控制方案鲁棒性强 ,具有很大的工业应用价值
Aiming at the factors affecting the performance of motion control, a new type of high precision robust motion controller is designed. The controller is based on a new type of friction model that estimates and compensates for frictional conditions. The compensation scheme of time delay control estimation disturbance is proposed, and the scheme is analyzed and experimentally studied. Experimental results show that the proposed control scheme is robust and has great industrial application value