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针对存在于摩擦非线性和负载转动惯量时变的伺服系统,提出一种神经元模型参考自适应控制设计方法。导出了控制对象离散数学模型,介绍了伺服系统结构和控制器设计,并用波波夫超稳定性理论证明该系统是渐近超稳定的。仿真结果表明系统具有良好的动态性能、稳态精度和鲁棒性。
Aiming at the servo system with time-varying frictional non-linearity and load moment of inertia, a neuron model reference adaptive control design method is proposed. The discrete mathematics model of control object is derived. The structure of servo system and controller design are introduced. The theory of Popov super - stability is used to prove the system is asymptotically super stable. Simulation results show that the system has good dynamic performance, steady-state accuracy and robustness.