控制理论与应用2011，Vol.28Issue(5)：745-751,7.
双电机驱动伺服系统的反推自适应控制
Backstepping adaptive control of dual-motor driving servo system
摘要
Abstract
We proposed a model for the dual-motor driving servo system with unknown backlash. By introducing the virtual control quantity, using backstepping approach and recursively selecting the Lyapunov function, we designed an adaptive controller with state feedback, and analyzed its stability. This design needs no knowledge about the uncertainty internal parameters of the system. Compared with the conventional PID control in simulation results, the proposed control strategy shows better position tracking performance and higher robustness. Practical experiments also validate the efficacy of the proposed control strategy.关键词
齿隙非线性/反推控制/自适应控制/双电机驱动Key words
backlash nonlinearity/ backstepping control/ adaptive control/ dual-motor driving分类
信息技术与安全科学引用本文复制引用
赵海波,周向红..双电机驱动伺服系统的反推自适应控制[J].控制理论与应用,2011,28(5):745-751,7.基金项目
光电子应用安徽省工程技术研究中心培育基地支持项目. （）
