Digital adaptive control for servo system with unknown nonlinear friction

机译：非线性摩擦未知的伺服系统数字自适应控制

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The authors consider the design of a discrete time model reference adaptive control system (MRACS) for motion control systems with unknown nonlinear friction. From a control system viewpoint, the static and Coulomb frictions are characterized by a nonlinear dead-zone element and constant value disturbance for the control input signal, respectively. The discrete MRACS is considered for a nonlinear system which is a cascade combination of an unknown dead-zone block and a linear dynamic block with disturbance. In order to verify the validity of the theory, the design method described is applied to a servo system influenced by friction. Experimental results show the high control performance of the constructed MRACS and the effectiveness of the proposed method.

机译：作者考虑了具有未知非线性摩擦的运动控制系统的离散时间模型参考自适应控制系统（MRACS）的设计。从控制系统的角度来看，静摩擦和库仑摩擦分别由非线性死区元素和控制输入信号的恒定值扰动来表征。对于非线性系统，考虑使用离散MRACS，该非线性系统是未知死区模块和具有干扰的线性动态模块的级联组合。为了验证该理论的有效性，将所描述的设计方法应用于受摩擦影响的伺服系统。实验结果表明，所构建的MRACS具有较高的控制性能，并且具有较高的控制效果。

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《Industrial Electronics, Control, Instrumentation, and Automation, 1992. Power Electronics and Motion Control., Proceedings of the 1992 International Conference on》|1992年|P.1270-1275|共6页
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Ohkawa; F.; Sagara; S.;
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中图分类无线电电子学、电信技术;
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Digital adaptive control for servo system with unknown nonlinear friction

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