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基于预设性能转台伺服系统的参数估计和自适应控制

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基于预设性能转台伺服系统的参数估计和自适应控制
Adaptive Parameter Estimate and Control Based on Prescribed Performance for the Turntable Servo Mechanism
投稿时间:2017-11-01
DOI:10.15918/j.tbit1001-0645.2019.02.014
中文关键词:转台伺服系统预设性能函数参数估计自适应控制
English Keywords:turntable servo mechanismprescribed performance function(PPF)parameter estimateadaptive control
基金项目:国家自然科学基金资助项目(61433003,61803216)
摘要点击次数:865
全文下载次数:338
中文摘要:
针对含参数未知和非线性摩擦动态的转台伺服系统,提出了一种基于预设性能函数的参数估计和自适应控制方法.利用一种连续的摩擦模型表示转台伺服系统的摩擦动态,引入高阶神经网络对其进行逼近.通过构造一种滤波辅助变量获取参数估计误差信息,并将估计误差信息作为参数自适应律的遗漏因子,保证估计值能够快速收敛到真实值.为了提高转台伺服系统的瞬态响应和稳态性能,利用预设性能函数将原始系统的跟踪误差转换为一个新的误差动态,在此基础上设计自适应控制器,实现对期望轨迹的精确跟踪.仿真结果验证了本文所提算法的有效性.
English Summary:
In this paper, a parameter estimate and adaptive control method was proposed based on prescribed performance function(PPF) for the turntable servo mechanisms with unknown parameters and nonlinearity friction dynamics. A continuous friction model was employed to capture the friction dynamics of the turntable servo mechanism, and high-order neural network(HONN) was adopted to approximate the nonlinearity friction dynamics. An auxiliary filter variable was designed to drive the information of the parameter estimation, which was used as a new leakage term of parameter update law to make the estimation values achieve to true values. To improve the transient behavior and steady-state performance of the turntable servo mechanism, the PPF was adopted to translate the error system of the original system into a new error system. Simulation results validate the effectiveness of the proposed control scheme.
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