含齿隙环节伺服系统的反步积分补偿控制

齿隙的存在成为影响机电伺服系统动态性能和稳定性的一个重要因素。为了减小其不利影响,提出了反步积分自适应齿隙补偿方法。本文依据Lyapunov稳定性理论,应用反步积分方法,逐步递推选择Lyapunov函数,设计了基于状态反馈的自适应控制器。通过理论分析以及与传统PID控制的仿真结果比较表明,该方法显著地降低了齿隙对伺服性能的影响,从而提高了系统的跟踪精度和鲁棒性。

Backstepping Integral Compensation Control of Backlash Nonlinearity for Servo Systems

Backlash in servomechanisms causes a severe deterioration of system performance. To reduce the influence of backlash on the system, backstepping adaptive approach is proposed. The control laws based on state feedback are developed with backstepping approach for selecting appropriate Lyapunov function. The analysis and simulation results show that the proposed method can greatly mitigate the effects of backlash and improve system tracking accuracy and robustness, compared with traditional PID control law.