采用复合控制的直流力矩电机摩擦补偿-EEE,HKU.PDFVIP

12 5 Vol12 N o5 2008 9 ELE CTR IC MACH INES AND CONTRO L Sep. 2008 于志伟, 曾鸣, 乔大鹏 ( , 150001) : 针对陀螺漂移测试转台直流力矩电机系统中存在的非线性动态摩擦和负 扰动, 为提高 转台位置跟踪精确度, 采用复合控制方法进行摩擦补偿研究在转台直流电机系统中, 电机模型采 用简化的二阶线性直流电机模型, 摩擦模型采用摩擦参数为非 一致性变化的动态摩擦模型补偿 方法包含一个参数自适应律和 CMAC神经网络, 用于估计未知模型参数辨识位置周期摩擦扰动 并给与补偿仿真结果表明, 复合控制补偿方法保证了闭环系统全局稳定性和对期望位置信号的 渐进跟踪, 提高了转台位置跟踪精确度 : 转台; 自适应控制器; 神经网络; 复合控制; 摩擦 : TM359. : A : 1007- 449X( 2008) 05- 0539- 0 Complex control for friction compensation in DCmotors YU Zhiw ei, ZENG M ing, QIAO Dapeng ( Space Control and Inertial Technology Research Cen ter, H arbin Institute of Technology, H arbin 150001, Ch ina) Abstract: A comp lex compensation scheme is presented in this paper to compensate the dynam ic friction asw ell as the load d isturbance in the DC motor system of the gyro drift test turntable. A smi plified sec ondorder linearmodelw as used for the DC motor system w h ile the dynam ic friction modelw ith nonuni form friction force variations characterized the friction force in the motor system. The compensation scheme consist of an adaptive component and CMAC neural network for estmi ating the unknow n system parameters, identifying and compensating positiondependent period ic friction disturbances. The system stability and the asymptotic position tracking performance are validated by using the compensation scheme and computer smi u lations verify the effectiveness of the proposed schem e for h ighprecision motion trajec tory tracking. Key words: turntable; adaptive controller; neural network; complex control; friction , , 1