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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >A Globally Stable High-Performance Adaptive Robust Control Algorithm With Input Saturation for Precision Motion Control of Linear Motor Drive Systems
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A Globally Stable High-Performance Adaptive Robust Control Algorithm With Input Saturation for Precision Motion Control of Linear Motor Drive Systems

机译：输入线性饱和的全局稳定高性能高性能自适应鲁棒控制算法，用于直线电机驱动系统的精密运动控制

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摘要

This paper focuses on the synthesis of nonlinear adaptive robust controller with saturated actuator authority for a linear motor drive system, which is subject to parametric uncertainties and uncertain nonlinearities such as input disturbances as well. Global stability with limited control efforts is achieved by breaking down the overall uncertainties to state-linearly-dependent uncertainties (such as viscous friction) and bounded nonlinearities (such as Coulomb friction, cogging force, etc.), and dealing with them via different strategies. Furthermore, a guaranteed transient performance and final tracking accuracy can be obtained by incorporating the well-developed adaptive robust control strategy and effective parameter identifier. Asymptotic output tracking is also achieved in the presence of parametric uncertainties only. Meanwhile, in contrast to the existing saturated control structures that are designed based on a set of transformed coordinates, the proposed saturated controller is carried out in the actual system states, which have clear physical meanings. This makes it much easier and less conservative to select the design parameters to meet the dual objective of achieving global stability with limited control efforts for rare emergency cases and the local high-bandwidth control for high performance under normal running conditions. Real-time experimental results are obtained to illustrate the effectiveness of the proposed saturated adaptive robust control strategy.
机译：本文重点研究线性电机驱动系统中具有饱和执行器权限的非线性自适应鲁棒控制器的合成，该控制器会受到参数不确定性和不确定性非线性（例如输入干扰）的影响。通过将总体不确定性分解为状态线性相关的不确定性（例如粘性摩擦）和有界的非线性（例如库仑摩擦，齿槽效应等），并通过不同的策略来处理，可以通过有限的控制努力来实现全局稳定性。 。此外，通过结合完善的自适应鲁棒控制策略和有效的参数识别器，可以获得有保证的瞬态性能和最终跟踪精度。仅在存在参数不确定性的情况下也可以实现渐近输出跟踪。同时，与基于一组变换坐标设计的现有饱和控制结构相反，所提出的饱和控制器是在实际系统状态下执行的，具有明确的物理意义。这使得选择设计参数更加容易且不那么保守，从而满足了实现全局稳定性的双重目标，即在极少数紧急情况下需要有限的控制努力，而在正常运行条件下则需要高性能的本地高带宽控制。获得了实时实验结果，以说明所提出的饱和自适应鲁棒控制策略的有效性。

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