作者:孙鹏，张恒睿，张天如
Authors:SUN Peng,ZHANG Heng ruiZHANG Tian ru摘要:自适应鲁棒控制(ARC)在处理直线电机系统的参数不确定性和模型不确定性方面具有特别的优势,然而在工业应用中,直线电机不理想的工作期望轨迹和不确定的非线性外部扰动会对控制器中参数自适应部分造成不良影响。基于ARC提出了一种考虑死区补偿的自适应增益模糊投影(DAFP)策略。首先,基于建立参数增益与系统误差的模糊投影改进了参数自适应律,通过自适应调节参数增益来迅速减小不确定参数估计误差;其次,引入死区补偿的关闭机制,在系统误差达到阈值时停止系统的参数估计,进一步减小了由系统噪声和外部干扰引起的参数漂移;最后,基于仿真与直线电机实物平台,设计了两组不同期望轨迹下的对比实验。实验结果表明,DAFP-ARC控制器在给定条件下,0.1s内参数估计可以收敛至真实值,并且相较于ARC降低了27.8%的瞬态跟踪误差,系统的外部扰动抑制能力得到了显著改善。
Abstract:Adaptiverobustcontrol(ARC)isparticularlyadvantageousindealingwithparameteruncertaintyandmodeluncertaintyinlinearmotorsystems.However,inindustrialapplications,undesirableoperatingtrajectoriesanduncertainnonlinearexternaldisturbancesoflinearmotorsystemscanadverselyaffecttheparameteradaptivepartoftheARC.Consequently,thisstudyintroducesanadaptivegainfuzzy-projectionstrategywithdead-zonecompensation(DAFP)basedonARC.Firstly,theDAFPimprovestheparameteradaptivelawbyestablishingafuzzy-projection.Throughadaptiveadjustmentofthegain,itminimizestheuncertainestimationerror.Moreover,ashutdownmechanismthroughdead-zonecompensationisintroducedinadaptivelaw.Thishaltsparameterestimationoncetheerrorcrossesathreshold,thuscurtailingparameterdriftfromsystemnoiseandexternaldisturbances.Lastly,thisstudydesignscomparisonexperiments,usingsimulationandlinearmotorplatform.TheresultsshowthattheDAFP-ARCcontrollerconvergestothetruevaluewithin0.1sandachievesa27.8%reductionintransienterrorrelativetoARC,whichshowstheeffectivenessoftheproposedscheme.

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