计算机工程与应用2011，Vol.47Issue(21)：227-230,4.DOI:10.3778/j.issn.1002-8331.2011.21.060
双电机驱动伺服系统的Backstepping自适应控制
Backstepping adaptive control of dual-motor driving servo system
摘要
Abstract
Aiming at the control problem of the dual-motor driving servo system with unknown backlash,the model is given. By selecting Lyapunov function through Backstcpping approach and introducing virtual control quantity, the adaptive controller based on state feedback is designed and its stability is analyzed.The result of simulation shows that it is not necessary to know the uncertainty of internal parameter,and the control system has good position tracking performance and strong robustness.关键词
齿隙非线性/Backstepping/自适应控制/双电机驱动Key words
backlash nonlinearity/Backstepping/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Backstepping自适应控制[J].计算机工程与应用,2011,47(21):227-230,4.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. （）
