基于迭代学习地伺服系统自适应摩擦补偿研究.pdfVIP

Proceedings of the 26th Chinese Control Conference July 26-31, 2007, Zhangji aj ie, Hunan, China 于迭代学习的伺服系统自适应摩擦补偿研究* 雁，王云宽，龚 利，宋英华 国科学院 自动化研究所, 北京 100080 E-mail: yyang@hitic.ia.ac.cn 要：摩擦环节是影响伺服系统性能的主要因素之一，针对具有重复运动特性的参数时变伺服系统，提出了一种基 于迭代学习的自适应摩擦补偿方法，即在自适应摩擦补偿基础上，通过重复动作间的迭代学习来提高摩擦力模型参数 的估计精度，从而达到提高伺服系统性能目的。利用混合能量函数方法，还证明了学习周期内任意时间的跟踪误差在 迭代域上渐进收敛的结论。 关键词：摩擦补偿, 自适应控制, 迭代学习, 参数时变系统 Adaptive Friction Compensation of Servo System Based on Iterative Learning Yang Yan, Wang Yunkuan, Gong Li, Song Yinghua Institute of Automation, Chinese Academy of Sciences, Beijing 100080, P. R. China E-mail: yyang@hitic.ac.cn Abstract: An adaptive friction compensation approach based on iterative learning is developed in this note to address a class of nonlinear servo systems with repeatable actions and time variant friction model uncertainties, which are iteration inde- pendent. By using the composite energy function which provides the system information along time and iterative horizons, and through a mathematically rigorous analysis, the algorithm is proved to be stable convergence along the iterative learning horizon, and the tracking error is asymptotic convergence as the iteration number increased. The simulation illustrations are given to show the approach can achieve high-accuracy traj ectory control and it is feasible to practical applications. Key Words: Friction compensation, Adaptive control, Iterative learning, Time variant model uncertainty 1 引言(Introduction)1 针对具有重复动作特性的伺服系统，参考库仑摩 擦力和粘滞摩擦力模型，本文提出了一种基于迭代学 现实中的许多伺服系统具有重复运动特性或存 习的自适应摩擦补偿方