基于漏斗函数双电机伺服系统跟踪与同步控制
Dual-motor Servo Systems Tracking and Synchronization Control Based on Funnel Function
张楠 1王树波1
作者信息
- 1. 青岛大学自动化学院,山东 青岛 266071;山东省工业控制技术重点实验室,山东 青岛 266071
- 折叠
摘要
针对双电机驱动伺服系统具有未知非线性的问题,提出一种基于漏斗函数的跟踪与同步控制方案.首先,利用神经网络逼近和补偿复杂的非线性,在此基础上,引入滤波技术解决传统反步控制的"计算爆炸"问题,同时引入非光滑漏斗误差面确保系统的状态量被约束在预定义的漏斗边界内,结合改进的漏斗函数和反步设计技术设计了一种自适应量化漏斗跟踪控制方案.为了同时保证双电机的同步运行,同步控制器采用了平均偏差耦合策略,实现了双电机伺服系统的跟踪与同步控制.仿真结果表明,该方法可以实现对负载的跟踪以及双电机的同步.
Abstract
A tracking and synchronization control method for the dual motor servo systems with unknown non-linearity was proposed in this paper.Firstly,the neural network is utilized to approximate the unknown nonlin-earity,based on this,filtering technology was introduced to solve the"computational explosion"problem of tra-ditional backstepping control.and the approximation value was incorporated into the control design to compen-sate the unknown nonlinearity.Secondly,a modified funnel function was introduced to guarantee the transient performance and steady-state performance.Combined funnel variable and backstepping control technique,an a-daptive tracking controller was designed to improve the tracking performance.In order to ensure the synchro-nous operation of both motors at the same time,the synchronous controller adopted an average deviation cou-pling strategy,achieving tracking and synchronization control of the dual motor servo system.
关键词
神经网络/非光滑漏斗误差面/跟踪控制/同步控制/平均偏差耦合策略Key words
neural network/non smooth funnel error surface/tracking control/synchronization control/aver-age deviation coupling strategy引用本文复制引用
基金项目
国家自然科学面上项目(62173194)
山东省优秀青年基金(ZR2021YQ41)
出版年
2024
NETL
NSTL
万方数据